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Issue #181: Modify Matrix and PointND classes

Marcus Mohr requested to merge thoennes/issue181-v2 into master

In light of issue #181 (closed) this commit changes the implementation details of the Matrix and PointND classes, while leaving their API basically unchanged.

The major switch is that both classes now use an Eigen::Matrix object to store their data instead of the previous static 1D array of type T. This allows to delegate all the algebraic operations to the Eigen library and makes certain operations also available for dimensions for which so far they had not been implemented.

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