From 783f55881741684dfdc2d203fe368cf1ad02a585 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@gmail.com>
Date: Fri, 11 Aug 2023 19:18:29 +0100
Subject: [PATCH] [bugfix] Fixed set_reference in state residual

---
 include/crocoddyl/multibody/residuals/state.hxx | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/crocoddyl/multibody/residuals/state.hxx b/include/crocoddyl/multibody/residuals/state.hxx
index 244681b7d5..233f5e803b 100644
--- a/include/crocoddyl/multibody/residuals/state.hxx
+++ b/include/crocoddyl/multibody/residuals/state.hxx
@@ -147,11 +147,11 @@ ResidualModelStateTpl<Scalar>::get_reference() const {
 
 template <typename Scalar>
 void ResidualModelStateTpl<Scalar>::set_reference(const VectorXs& reference) {
-  if (static_cast<std::size_t>(reference.size()) != nr_) {
+  if (static_cast<std::size_t>(reference.size()) != state_->get_nx()) {
     throw_pretty("Invalid argument: "
                  << "the state reference has wrong dimension ("
                  << reference.size()
-                 << " provided - it should be " + std::to_string(nr_) + ")")
+                 << " provided - it should be " + std::to_string(state_->get_nx() + ")")
   }
   xref_ = reference;
 }