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feat(lcs-factory) : add utility function to choose N closest contact pairs#43

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Meow404 merged 4 commits intomainfrom
stephen/feat/contact-pair-preprocessing
Feb 23, 2026
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feat(lcs-factory) : add utility function to choose N closest contact pairs#43
Meow404 merged 4 commits intomainfrom
stephen/feat/contact-pair-preprocessing

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@Meow404 Meow404 commented Feb 21, 2026 •
edited by mposa
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fixes #32

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@Meow404 Meow404 mentioned this pull request Feb 21, 2026
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github-actions bot commented Feb 21, 2026 •
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LCOV of commit eaebc76 during C3 Coverage #86

Summary coverage rate:
  lines......: 92.7% (1641 of 1771 lines)
  functions..: 77.9% (134 of 172 functions)
  branches...: 52.3% (1259 of 2408 branches)

Files changed coverage rate:
                                            |Lines       |Functions  |Branches    
  Filename                                  |Rate     Num|Rate    Num|Rate     Num
  ================================================================================
  multibody/lcs_factory.cc                  | 4.8%    335|3725%    16|    -      0
  multibody/lcs_factory.h                   |33.3%      3|1200%     1|    -      0
  multibody/lcs_factory_options.h           | 6.7%     30| 800%     2|    -      0

@Meow404 Meow404 requested a review from ebianchi February 21, 2026 15:37
@Meow404 Meow404 self-assigned this Feb 23, 2026
ebianchi
ebianchi previously approved these changes Feb 23, 2026
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The code looks good; I only had one minor comment. I also confirmed the new unit tests ran successfully.

@Meow404 Meow404 requested a review from ebianchi February 23, 2026 18:04
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LGTM!

@Meow404 Meow404 merged commit ee74002 into main Feb 23, 2026
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Add Contact Pair Filtering to LCS Factory Method

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