template auto lqrComputeKktError< context::Scalar >(const LQRProblemTpl< context::Scalar > &, boost::span< const context::VectorXs >, boost::span< const context::VectorXs >, boost::span< const context::VectorXs >, boost::span< const context::VectorXs >, const context::Scalar, const context::Scalar, const std::optional< context::ConstVectorRef > &, bool)