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FloatComparisons: allow dynamic matrices

Paul Gessinger requested to merge float-comp-dynamic into master

FloatComparisons' matrixCompare previously only allowed statically sized matrices. This is changed in this MR to accept an arbitrary combination of statically and dynamically sized matrices (even mixed col row combinations should work). If all rows and columns are defined at compile time, it performs static assertions, to show a descriptive error message early. If anything is dynamic, it will print a runtime error.

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