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Sanitizers

Reduce macro usage in OptimalTrajectoryGenerator.cpp #15

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Run time

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Job	Run time
asan with sleipnir	2m 58s
tsan with sleipnir	2m 24s
ubsan with sleipnir	2m 48s
asan with casadi	54s
tsan with casadi	54s
ubsan with casadi	54s
	10m 52s