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Support usage without explicit stack allocations #404

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This is useful if no header files can or should be used, e.g. if you want to use the library from a language which cannot directly use header files.

Fixes #403

This is useful if no header files can or should be used, e.g. if you
want to use the library from a language which cannot directly use
header files.

Signed-off-by: Patrick Häcker <[email protected]>
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@PatrickHaecker thanks for the PR.

CC: @JanStaschulat

IMO, instead of having those heap specific APIs, probably we can support this with allocator design as mentioned in comments?

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