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Add memory allocator support for LQ subproblem types, merge gar into main aligator library, slight refactor of DenseRiccatiSolver #885

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 #885

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succeeded Jan 24, 2025 in 4s