[eigen] Levenberg-marquardt and dogleg minimizer

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The API for the LM implementation in libmv is more or less ready; since I plan to include it in Eigen at some point, I thought I'd send it along:


Mostly, I am looking for a review from an API perspective; also, I need to support sparse matrices at some point but don't have any experience with them; perhaps Gael could comment here as he is the sparse expert. In particular, I will need to support sparse Jacobians and solving sparse normal equations..

I also have an implementation of Powell's dogleg method, which can be much faster than LM:



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