Henrik/velocity control#641

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Henrimha wants to merge 22 commits intomainfrom

Henrik/velocity_control

Commits on Oct 1, 2025

Commits on Oct 7, 2025

Implemented the LQR lib from python
Henrimha
committed

Commits on Oct 8, 2025

Commits on Oct 12, 2025

New get_paramters function, changed topics in test_node
Henrimha
committed

Commits on Oct 19, 2025

fixed code so that it likely could compile if I had Drake. Made a Utility file
Henrimha
committed

Commits on Oct 22, 2025

Removed Drake, Changed from std::vector to Eigen in LQR
Henrimha
committed

Commits on Oct 26, 2025

Implemented LQR solver, SLICOT call and some dimension mistakes
Henrimha
committed

Commits on Nov 2, 2025

Fixed LQR_solve_k_p
Henrimha
committed

Commits on Nov 5, 2025

Commits on Nov 12, 2025

All changes until christmas
Henrimha
committed

Commits on Jan 5, 2026

Added support for vortex utils and changed to using their ssa
Henrimha
committed