InvertPSDMatrix uses dynamic matrices when using SVD

The JacobiSVD algorithm in Eigen does not accept fixed sized
matrices when performing a thin SVD. The assert enforcing this
is only triggered in non-Release builds.

So this change calls JacobiSVD with dynamically sized matrices
as a template parameter rather than a fixed size matrix.

Thanks to @debalance for reporting this and @leokoppel for
providing a reproduction.

Change-Id: Ifc3d9ff20d5597f08c0f8573bf2fd99a3ed3d4d3
1 file changed
tree: fd748f82d25510ebeb6f335247d94a8dd45e63a1
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  2. CMakeLists.txt
  5. cmake/
  6. config/
  7. data/
  8. docs/
  9. examples/
  10. include/
  11. internal/
  12. jni/
  13. package.xml
  14. scripts/

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