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valid_cov, rename to indicate what it actually does.

valid_cov, rename to indicate what it actually does and follow more the "camel" ATLAS name convention.

We have/had cases where the matrix is not semi pos def and still has non-0 diagonal elements etc.

Also use std::numeric_limits::epsilon() rather than have it as magic number.

Mentiong @wleight and @jojungge

Edited by Christos Anastopoulos

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