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README: add docs
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‎README.md

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# Aligator
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<a href="https://simple-robotics.github.io/aligator/"><img src="https://img.shields.io/badge/docs-online-brightgreen" alt="Documentation"/></a>
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**Aligator** is an efficient and versatile trajectory optimization library for robotics and beyond.
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It can be used for motion generation and planning, optimal estimation, deployment of model-predictive control on complex systems, and much more.

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