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compute Eigenvalues and -vectors in 1-3d without LAPACK

Lukas Renelt requested to merge feature/3d-eigenvalues+vectors into master

When dealing with small matrices calling LAPACK to calculate Eigenvalues and Eigenvectors can be quite slow. 1d- and 2d-specializations are quite straightforward, for the 3d-specialization I´m using the approach presented in https://www.geometrictools.com/Documentation/RobustEigenSymmetric3x3.pdf.

Edited by Christian Engwer

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