[eigen] some fixes and v * m operators

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Hi all!

here's a patch to current svn's matrixbase.h, which adds:
+ vector_leftmultiplication_helper
+ leftmultiply(v)
+ v*m
+ v*=m
and fixes:
- multiply: the helper function is called with a **VectorType - remove the "&"
- vector_multiplication_helper: when size() is 3, don't operate on
v[3] or m(3,3) - most likely some copy/paste error, lines removed

I'll be back on irc this afternoon, have fun!

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