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[trajoptlib] Include cassert header where necessary #1426

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Job	Run time
Windows-x86_64	9m 11s
Windows-aarch64	11m 16s
macOS-x86_64	3m 16s
macOS-aarch64	3m 20s
Linux-x86_64	5m 25s
Create draft release	0s
	32m 28s