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Switch quadratic trajectory cost implementation to more flexible vari…

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feat(c3) : Add ability to evaluate cost of C3 plan #44

Switch quadratic trajectory cost implementation to more flexible vari…
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Cirrus CI / jammy failed Mar 3, 2026 in 4m 33s

Task Summary

Instruction test failed in 04:19

Details

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✅ 00:00 clone
✅ 00:11 format
❌ 04:19 test

[----------] 8 tests from C3CartpoleTest
[ RUN      ] C3CartpoleTest.InitializationTest
[       OK ] C3CartpoleTest.InitializationTest (1 ms)
[ RUN      ] C3CartpoleTest.LinearConstraintsTest
[       OK ] C3CartpoleTest.LinearConstraintsTest (0 ms)
[ RUN      ] C3CartpoleTest.RemoveLinearConstraintsTest
[       OK ] C3CartpoleTest.RemoveLinearConstraintsTest (0 ms)
[ RUN      ] C3CartpoleTest.UpdateTargetTest
[       OK ] C3CartpoleTest.UpdateTargetTest (0 ms)
[ RUN      ] C3CartpoleTest.UpdateCostMatrix
[       OK ] C3CartpoleTest.UpdateCostMatrix (0 ms)
[ RUN      ] C3CartpoleTest.ZSolStaleTest
OMP: Info #276: omp_set_nested routine deprecated, please use omp_set_max_active_levels instead.
Error code = 10030
Overage for too long, 4 active sessions and over the baseline for 106 minutes
terminate called after throwing an instance of 'std::runtime_error'
  what():  Gurobi optimization failed.
================================================================================
FAIL: //systems:systems_test (Aborted) (see /root/.cache/bazel/_bazel_root/b3ae12dd079012e10ed112b1996c540f/execroot/_main/bazel-out/k8-opt/testlogs/systems/systems_test/test.log)
INFO: From Testing //systems:systems_test:
==================== Test output for //systems:systems_test:
Running main() from gmock_main.cc
[==========] Running 14 tests from 4 test suites.
[----------] Global test environment set-up.
[----------] 3 tests from LCSSimulatorTest
[ RUN      ] LCSSimulatorTest.Initialization
[       OK ] LCSSimulatorTest.Initialization (0 ms)
[ RUN      ] LCSSimulatorTest.SimulateOneStep
[       OK ] LCSSimulatorTest.SimulateOneStep (0 ms)
[ RUN      ] LCSSimulatorTest.MissingLCS
[       OK ] LCSSimulatorTest.MissingLCS (0 ms)
[----------] 3 tests from LCSSimulatorTest (1 ms total)

[----------] 4 tests from C3ControllerTypedTest/0, where TypeParam = c3::C3MIQP
[ RUN      ] C3ControllerTypedTest/0.CheckInputOutputPorts
[       OK ] C3ControllerTypedTest/0.CheckInputOutputPorts (42 ms)
[ RUN      ] C3ControllerTypedTest/0.CheckPlannedTrajectory
[2026-03-03 20:30:02.410] [console] [info] Filtered solve time is zero, presuming first iteration and skipping clamped prediction.
OMP: Info #276: omp_set_nested routine deprecated, please use omp_set_max_active_levels instead.
Error code = 10030
Overage for too long, 4 active sessions and over the baseline for 106 minutes
terminate called after throwing an instance of 'std::runtime_error'
  what():  Gurobi optimization failed.
================================================================================
INFO: Found 44 targets and 5 test targets...
INFO: Elapsed time: 4.844s, Critical Path: 3.13s
INFO: 6 processes: 469 action cache hit, 4 remote cache hit, 3 processwrapper-sandbox.
INFO: Build completed, 2 tests FAILED, 6 total actions
//core:core_test                                                         FAILED in 2.6s
  /root/.cache/bazel/_bazel_root/b3ae12dd079012e10ed112b1996c540f/execroot/_main/bazel-out/k8-opt/testlogs/core/core_test/test.log
//systems:systems_test                                                   FAILED in 2.7s
  /root/.cache/bazel/_bazel_root/b3ae12dd079012e10ed112b1996c540f/execroot/_main/bazel-out/k8-opt/testlogs/systems/systems_test/test.log

Executed 2 out of 5 tests: 3 tests pass and 2 fail locally.

Exit status: 3