diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 3e4fb6e..f1fa3a1 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -124,7 +124,7 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - name: Install dependencies
-        run: sudo apt-get update -qq && sudo apt-get install -y -qq libcjson-dev python3
+        run: sudo apt-get update -qq && sudo apt-get install -y -qq libcjson-dev python3 libeigen3-dev
       - name: Configure (Release)
         run: cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
       - name: Build framework
@@ -193,7 +193,7 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - name: Install dependencies
-        run: sudo apt-get update -qq && sudo apt-get install -y -qq libcjson-dev python3
+        run: sudo apt-get update -qq && sudo apt-get install -y -qq libcjson-dev python3 libeigen3-dev
       - name: Configure (Release)
         run: cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
       - name: Build framework
diff --git a/.gitignore b/.gitignore
index 6f6b87d..4960810 100644
--- a/.gitignore
+++ b/.gitignore
@@ -132,3 +132,4 @@ data/
 third_party/frenet-optimal-trajectory-planner/
 third_party/tinympc/
 build-*/
+build_*/