add test case of legacy compiler to the CI #263

Job	Run time
Build (Ubuntu 20.04 - Debug)	1s
Build (Debug)	2m 46s
Build (Release)	1m 52s
Build & Test (RelWithDebInfo-noEigen)	5m 17s
Build, Test & Coverage (RelWithDebInfo + Eigen)	6m 27s
	16m 23s

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