Revert ":Merge branch 'master' of github.com:giaf/hpmpc"
Revert ":Merge branch 'master' of github.com:giaf/hpmpc"

This reverts commit d2b4d834845c519a725385cd85e0dbc5aaaeb9d9, reversing
changes made to 75f99b6ce9cfc5c25d188c1583ef941ef90cd9e6.

giaf/hpmpc,giaf/hpmpc,giaf/hpmpc