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Handle rank more carefully in sparse GP solves #332

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Commits on May 31, 2022

  1. Handle rank more carefully in sparse GP solves

    Previously we assumed that every solve would be full-rank, which could
    lead to invalid / undefined values being used as part of a linear
    solve with the `R` factor of a QR decomposition.  This commit
    
     - switches to the Eigen-recommended way of extracting a valid `R`
       factor from a QR decomposition
    
     - adds assertions checking that the sparse GP problem was full-rank
    
     - adds an assertion that an `R` factor is of appropriate rank when
       using it to compute covariances
    peddie committed May 31, 2022
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