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Hi @Rufio, this is more of a C++ question than a catkin_make question. The error you are getting:

Undefined symbols for architecture x86_64:
"dircol<Dimensions<10ul, 3ul> >::setFinalState(Eigen::Matrix<double, 10, 1, 0, 10, 1>)", referenced from:
  _main in dircol_rezero_ipopt.cpp.o

Is from the C++ linker. It is complaining that it cannot find the _main symbol which means you are trying to build an executable but you do not have a main function in any of your source files you are compiling and linking together for the executable.

Check your program to make sure it has a main function and if it does, make sure the file which contains it is used in compiling your executable.

If you need more help we will need you to share your CMakeLists.txt and possibly some of the source files. The easiest way to get help would be to post your whole package on Github.com and point people there (assuming you can do that).