Fix GMRES: Initialize essential Householder vector with correct dimension. Add check if initial guess is already a sufficient approximation. (transplanted from aa6e219555ff38a6dbcdb1fd77c902403cb9f177)
Fix GMRES: Initialize essential Householder vector with correct dimension. Add check if initial guess is already a sufficient approximation.
(transplanted from aa6e219555ff38a6dbcdb1fd77c902403cb9f177)

--HG--
branch : 3.2

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