Merge pull request #1158 from cmastalli/topic/fix-state-residual #22

Job	Run time
(noetic)	53m 24s
(noetic, clang)	43m 20s
(noetic, clang, multi-threading)	57m 55s
(noetic, clang, Debug)	1h 57m 28s
	4h 32m 7s

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