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Squashed commit of the following: (#23) #57

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Squashed commit of the following: (#23)

Squashed commit of the following: (#23) #57

Run time

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Job Run time
Build (Release)
2m 10s
Build (Debug)
4m 6s
Build & Test (RelWithDebInfo-noEigen)
4m 42s
Build & Test (RelWithDebInfo + Eigen)
8m 36s
19m 34s