control: add bounded trajectory and allocation core

libs/kaptan-control/Cargo.toml

@@ -0,0 +1,13 @@
+[package]
+name = "kaptan-control"
+edition.workspace = true
+license.workspace = true
+repository.workspace = true
+rust-version.workspace = true
+version.workspace = true
+
+[lints]
+workspace = true
+
+[dependencies]
+kaptan-math = { path = "../kaptan-math" }