Add memory allocator support for LQ subproblem types, merge gar into main aligator library, rename LQRKnot and LQRProblem, slight refactor of DenseRiccatiSolver
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+ parallel.cpp : slight cleanup, relax mu, remove some verbose prints + test_util.cpp: use string_view, pass allocator, pass verbose arg + cholmod.cpp: relax tolerance
iterative refinement, + change typedef "Impl" to "Kernel" [gar] work.hpp : make get_work() constexpr
+ also after reallocating params + fix allocator_traits check in DEBUG
+ Changes to TrajOptProblem documentation
…core" to "solvers"
… argument is wrong
change formatter in tests/gar/test_util
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LqrKnotTplandLqrProblemTplclass to work with single block of allocated memory for the entire problemgarlinear solver library into main aligator libraryDenseRiccatiSolver: add classDenseKernelLQRKnotTpltoLqrKnotTpl,LQRProblemTpltoLqrProblemTpl