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Merge pull request #2276 from traversaro:reducetestboilerplate #2389

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Job	Run time
ubuntu-22.04-gcc-12	13m 40s
ubuntu-22.04-gcc-11	12m 58s
ubuntu-22.04-gcc-10	12m 58s
ubuntu-22.04-gcc-9	11m 33s
ubuntu-22.04-clang-14	13m 41s
ubuntu-22.04-clang-13	13m 34s
ubuntu-20.04-clang-12	12m 57s
ubuntu-20.04-clang-11	13m 0s
ubuntu-20.04-clang-10	13m 59s
macos-13	17m 12s
windows-2022	13m 35s
	2h 29m 7s