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Add memory allocator support for LQ subproblem types, merge gar into main aligator library, slight refactor of DenseRiccatiSolver #865

Add memory allocator support for LQ subproblem types, merge gar into main aligator library, slight refactor of DenseRiccatiSolver

Add memory allocator support for LQ subproblem types, merge gar into main aligator library, slight refactor of DenseRiccatiSolver #865

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