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Squashed commit of the following: #58

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Squashed commit of the following:

Squashed commit of the following: #58

Run time

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Job Run time
Build (Debug)
2m 35s
Build (Release)
2m 17s
Build & Test (RelWithDebInfo + Eigen)
6m 27s
Build & Test (RelWithDebInfo-noEigen)
6m 8s
17m 27s