Add a rank method with threshold control to JacobiSVD, and make solve uses it to return the minimal norm solution for rank-deficient problems (grafted from 99289da182ea4083bfab429e24c0e957feb57d90)
Add a rank method with threshold control to JacobiSVD, and make solve uses it to return the minimal norm solution for rank-deficient problems
(grafted from 99289da182ea4083bfab429e24c0e957feb57d90)

--HG--
branch : 3.2

robustrobotics/eigen,robustrobotics/eigen,robustrobotics/eigen,robustrobotics/eigen