ICRA2026 cleanup

Author: Nikos-d

blast/optimization/optimization.hpp

@@ -181,7 +181,7 @@ inline Result optimize(Optimization* opt, u32 output_steps_ms = 1 /*ms*/) {
 
   // Initialization
   // configure_internal_data(opt); // todo: Ensure we can remove
-  initialize_optimization(opt);
+  // initialize_optimization(opt);
   n_con(opt);
 
   // Initial validation
@@ -428,7 +428,7 @@ inline Result optimize_with_segments(Optimization* opt, u32 output_steps_ms = 1
 
   // Initialization
   // configure_internal_data(opt); // todo: Ensure we can remove
-  initialize_optimization_with_segments(opt);
+  // initialize_optimization_with_segments(opt);
   n_con_with_segments(opt);
 
   // Initial validation

examples/CMakeLists.txt

@@ -7,7 +7,7 @@ endfunction()
 
 set(EXAMPLES
     example_manipulator example_manipulator.cpp
-    eval_manipulator eval_manipulator.cpp
+    eval_manipulator ICRA2026/eval_manipulator.cpp
     get_bspline_and_basis_functions get_bspline_and_basis_functions.cpp
     get_start_and_end_pos get_start_and_end_pos.cpp
     #        example_demo1 demo1_link6.cpp