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Add memory allocator support for LQ subproblem types, merge gar into main aligator library, slight refactor of DenseRiccatiSolver #537

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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 #537

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