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Align leftInvA with rightInvA

Simon Praetorius requested to merge issue/left-inv into master

Summary

This MR aligns the implementation of leftInvA in the FieldMatrixHelper with that of rightInvA. There, the 2x2 matrix case is extracted. In this MR, I have additionally added the constexpr in the if-clause. I quick benchmark has shown that this results in a 10% faster execution.

Also the leftInvAx is aligned with the xTRightInvA in the return of a bool indicating wither the matrix A^TA is singular.

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