LDLT: * fix bug thanks to Ben Goodrich: we were terminating at the wrong place, leaving some matrix coefficients with wrong values. * don't use Higham's formula here: we're not trying to be rank-revealing.
LDLT:
* fix bug thanks to Ben Goodrich: we were terminating at the wrong place, leaving some matrix coefficients with wrong values.
* don't use Higham's formula here: we're not trying to be rank-revealing.

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