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Fix matrix products in LQR discrete Riccati solver - #1483

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Fix matrix products in LQR discrete Riccati solver#1483
huxiaoyi-ovo wants to merge 3 commits into
AtsushiSakai:masterfrom
huxiaoyi-ovo:fix/lqr-discrete-riccati-matrix-products

style(tests): normalize LQR test spacing

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