[trajoptlib] Give each sample its own dt #2476

	name: TrajoptLib / Sanitizers

	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:
	- sanitizer-name: asan
	cmake-args: "-DCMAKE_BUILD_TYPE=Asan"
	- sanitizer-name: tsan
	cmake-args: "-DCMAKE_BUILD_TYPE=Tsan"
	- sanitizer-name: ubsan
	cmake-args: "-DCMAKE_BUILD_TYPE=Ubsan"

	name: ${{ matrix.sanitizer-name }}
	runs-on: ubuntu-24.04

	steps:
	- uses: actions/checkout@v4
	with:
	persist-credentials: false
	token: ${{secrets.GITHUB_TOKEN}}

	- name: Install dependencies
	run: sudo apt-get update && sudo apt-get install -y ninja-build

	- name: Install LLVM 19
	run: \|
	wget https://apt.llvm.org/llvm.sh
	chmod +x llvm.sh
	sudo ./llvm.sh 19 all
	sudo update-alternatives --install /usr/bin/clang clang /usr/bin/clang-19 200
	sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-19 200
	echo "CC=clang" >> $GITHUB_ENV
	echo "CXX=clang++" >> $GITHUB_ENV
	echo "CXXFLAGS=-stdlib=libc++" >> $GITHUB_ENV

	- name: Set up sccache
	uses: mozilla-actions/[email protected]

	- run: cmake --preset with-examples-and-sccache ${{ matrix.cmake-args }}
	working-directory: trajoptlib
	- run: cmake --build build --config RelWithDebInfo --parallel $(nproc)
	working-directory: trajoptlib
	env:
	SCCACHE_GHA_ENABLED: "true"
	- run: ctest --test-dir build -C RelWithDebInfo --output-on-failure
	working-directory: trajoptlib

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