Benoit Jacob 24a09ceae8 * Fix a bug in HouseholderQR with mixed fixed/dynamic size: must use EIGEN_SIZE_MIN instead of EIGEN_ENUM_MIN, and there are many other occurences throughout Eigen!
* HouseholderSequence:
  - add shift parameter
  - add essentialVector() method to start abstracting the direction
  - add unit test in householder.cpp
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