Merge branch 'main' of https://github.com/thowell/IterativeLQR.jl into main

Author: thowell

README.md

@@ -1,6 +1,7 @@
+# IterativeLQR.jl
 [![CI](https://github.com/thowell/IterativeLQR.jl/actions/workflows/CI.yml/badge.svg)](https://github.com/thowell/IterativeLQR.jl/actions/workflows/CI.yml)
 [![codecov](https://codecov.io/gh/thowell/IterativeLQR.jl/branch/main/graph/badge.svg?token=FGM33O1K1E)](https://codecov.io/gh/thowell/IterativeLQR.jl)
-# IterativeLQR.jl
+
 A Julia package for solving constrained trajectory optimization problems with iterative LQR (iLQR). 
 
 ```
@@ -73,4 +74,4 @@ solve!(prob)
 
 # solution
 x_sol, u_sol = get_trajectory(prob)
-```
+```