added CI workflow

Author: e-duar-do

.github/workflows/test.yml

@@ -0,0 +1,33 @@
+name: Build and Test
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+jobs:
+  build-and-test:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout
+      uses: actions/checkout@v4
+
+    - name: Install dependencies
+      run: sudo apt-get update && sudo apt-get install -y cmake build-essential
+
+    - name: Create build directory
+      run: mkdir build
+
+    - name: Run CMake
+      run: cmake ..
+      working-directory: build
+
+    - name: Build
+      run: make
+      working-directory: build
+
+    - name: Test
+      run: ./tests/constrained_ilqr_tests
+      working-directory: build