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feat(lcmt_generators) : Add standard LCM generators for C3 Output and Contact Descriptions #10

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Merged
Meow404 merged 19 commits into from
Apr 9, 2026

fix: fallback logic for failed solve

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feat(lcmt_generators) : Add standard LCM generators for C3 Output and Contact Descriptions #10

fix: fallback logic for failed solve
f3ec584
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Cirrus CI / jammy succeeded Apr 8, 2026 in 6m 49s

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✅ 00:00 clone
✅ 00:14 format
✅ 06:31 test
✅ 00:00 jammy_test

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core/test/core_test.cc#L75 

C3CartpoleTest.InitializationTest

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C3CartpoleTest.LinearConstraintsTest

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C3CartpoleTest.RemoveLinearConstraintsTest

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C3CartpoleTest.UpdateTargetTest

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C3CartpoleTest.UpdateCostMatrix

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C3CartpoleTest.ZSolStaleTest

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C3CartpoleTest.CreatePlaceholder

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C3CartpoleTest.WarmStartSmokeTest

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core/test/core_test.cc#L779 

C3CartpoleTest.FallbackSolutionSetsStateAndZerosInputs

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C3CartpoleTest.FallbackSolutionRecoveryAfterConstraintRemoval

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TrajectoryEvaluatorTest.QuadraticCostMatchesManual

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TrajectoryEvaluatorTest.SimulatePDControlWithLCSTest

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TrajectoryEvaluatorTest.ZeroOrderHoldAndDownsampleRoundTrip

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TrajectoryEvaluatorTest.MultiZeroOrderHoldAndDownsampleRoundTrip

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TrajectoryEvaluatorTest.SimulateLCSOverTrajectoryMatchesLinearDynamics

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core/test/core_test.cc#L658 

C3CartpoleTypedTest/0.UpdateLCSTest

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C3CartpoleTypedTest/0.End2EndCartpoleTest

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C3CartpoleTypedTest/0.ComputeCost

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C3CartpoleTypedTest/1.UpdateLCSTest

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core/test/core_test.cc#L699 

C3CartpoleTypedTest/1.End2EndCartpoleTest

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C3CartpoleTypedTest/1.ComputeCost

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C3CartpoleTypedTest/2.UpdateLCSTest

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core/test/core_test.cc#L699 

C3CartpoleTypedTest/2.End2EndCartpoleTest

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C3CartpoleTypedTest/2.ComputeCost

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core/test/core_test.cc#L99 

LinearConstraintTests/C3CartpoleTestParameterizedLinearConstraints.LinearConstraintsTest/0
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