./main_pendulum_ode

xn:
1.256000e-01	3.140000e+00	0.000000e+00	0.000000e+00


S_forw_out:
1.000000e+00	4.000000e-02	0.000000e+00	0.000000e+00	0.000000e+00
0.000000e+00	1.000000e+00	0.000000e+00	4.000000e-02	0.000000e+00
0.000000e+00	0.000000e+00	1.039240e+00	0.000000e+00	4.000000e-02
0.000000e+00	0.000000e+00	5.395500e-01	1.000000e+00	5.000000e-02


error: ocp_qp_config_create: forgot to initialize plan->qp_solver