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Rewrite trajectory generator and constraint handling #71

	name: Build C++

	on: [pull_request, push]

	concurrency:
	group: ${{ github.workflow }}-${{ github.head_ref \|\| github.ref }}
	cancel-in-progress: true

	jobs:
	build:
	timeout-minutes: 10
	strategy:
	fail-fast: false
	matrix:
	include:
	- artifact-name: Windows x86_64
	# FIXME: Tests give "Exit code 0xc0000135" for missing DLLs
	cmake-args: "-DCMAKE_GENERATOR_PLATFORM=x64 -DBUILD_TESTING=OFF"
	os: windows-2022
	- artifact-name: Windows aarch64
	# FIXME: Tests give "Exit code 0xc0000135" for missing DLLs
	cmake-args: "-DCMAKE_GENERATOR_PLATFORM=ARM64 -DBUILD_TESTING=OFF"
	os: windows-2022
	- artifact-name: macOS universal
	cmake-args: -DCMAKE_OSX_ARCHITECTURES="x86_64;arm64"
	os: macOS-14
	- artifact-name: Linux x86_64
	cmake-args:
	os: ubuntu-24.04

	name: "${{ matrix.artifact-name }}"
	runs-on: ${{ matrix.os }}

	steps:
	- uses: actions/checkout@v4

	- name: Make GCC 14 the default toolchain (Linux)
	if: startsWith(matrix.os, 'ubuntu')
	run: \|
	sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 200
	sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 200

	- run: sudo xcode-select -switch /Applications/Xcode_15.3.app
	if: startsWith(matrix.os, 'macOS')

	- run: cmake -B build -S . -DBUILD_EXAMPLES=ON ${{ matrix.cmake-args }}
	- run: cmake --build build --config RelWithDebInfo --parallel 4
	- run: ctest --test-dir build -C RelWithDebInfo --output-on-failure
	- run: cmake --install build --config RelWithDebInfo --prefix pkg

	- uses: actions/upload-artifact@v4
	with:
	name: ${{ matrix.artifact-name }}
	path: pkg

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