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fix: apply augmented costs only for lambda and eta for c3+

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feat(core): add c3 plus #22

fix: apply augmented costs only for lambda and eta for c3+
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Cirrus CI / jammy succeeded Jan 11, 2026 in 2m 44s

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✅ 00:00 clone
✅ 00:09 format
✅ 02:32 test
✅ 00:00 jammy_test

Annotations

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@cirrus-ci cirrus-ci / jammy

core/test/core_test.cc#L71 

C3CartpoleTest.InitializationTest

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@cirrus-ci cirrus-ci / jammy

core/test/core_test.cc#L77 

C3CartpoleTest.LinearConstraintsTest

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core/test/core_test.cc#L144 

C3CartpoleTest.RemoveLinearConstraintsTest

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core/test/core_test.cc#L168 

C3CartpoleTest.UpdateTargetTest

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@cirrus-ci cirrus-ci / jammy

core/test/core_test.cc#L191 

C3CartpoleTest.UpdateCostMatrix

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core/test/core_test.cc#L278 

C3CartpoleTest.ZSolStaleTest

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@cirrus-ci cirrus-ci / jammy

core/test/core_test.cc#L306 

C3CartpoleTest.CreatePlaceholder

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core/test/core_test.cc#L314 

C3CartpoleTest.WarmStartSmokeTest

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core/test/core_test.cc#L338 

C3CartpoleTypedTest/0.UpdateLCSTest

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core/test/core_test.cc#L379 

C3CartpoleTypedTest/0.End2EndCartpoleTest

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core/test/core_test.cc#L338 

C3CartpoleTypedTest/1.UpdateLCSTest

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core/test/core_test.cc#L379 

C3CartpoleTypedTest/1.End2EndCartpoleTest

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core/test/core_test.cc#L338 

C3CartpoleTypedTest/2.UpdateLCSTest

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core/test/core_test.cc#L379 

C3CartpoleTypedTest/2.End2EndCartpoleTest

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core/test/core_test.cc#L95 

LinearConstraintTests/C3CartpoleTestParameterizedLinearConstraints.LinearConstraintsTest/0

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core/test/core_test.cc#L95 

LinearConstraintTests/C3CartpoleTestParameterizedLinearConstraints.LinearConstraintsTest/1

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core/test/core_test.cc#L95 

LinearConstraintTests/C3CartpoleTestParameterizedLinearConstraints.LinearConstraintsTest/2

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core/test/core_test.cc#L95 

LinearConstraintTests/C3CartpoleTestParameterizedLinearConstraints.LinearConstraintsTest/3

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core/test/core_test.cc#L95 

LinearConstraintTests/C3CartpoleTestParameterizedLinearConstraints.LinearConstraintsTest/4

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core/test/core_test.cc#L95 

LinearConstraintTests/C3CartpoleTestParameterizedLinearConstraints.LinearConstraintsTest/5

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core/test/core_test.cc#L233 

ScalingLCSTests/C3CartpoleTestParameterizedScalingLCSTest.ScalingLCSTest/0

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core/test/core_test.cc#L233 

ScalingLCSTests/C3CartpoleTestParameterizedScalingLCSTest.ScalingLCSTest/1

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core/test/core_test.cc#L233 

ScalingLCSTests/C3CartpoleTestParameterizedScalingLCSTest.ScalingLCSTest/2

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core/test/core_test.cc#L233 

ScalingLCSTests/C3CartpoleTestParameterizedScalingLCSTest.ScalingLCSTest/3

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multibody/test/multibody_test.cc#L49 

LCSFactoryTest.GetNumContactVariables
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