Upgrade to newly released Eigen 3.2.1

Issue #65 resolved
Chris Beall created an issue

Many bug fixes and limited performance enhancements.

http://eigen.tuxfamily.org/index.php?title=News:Eigen_3.2.1_released!

@richardroberts , not sure about the best way to do this with git? Do we just copy the new release into a feature branch and then cherry-pick your patches since the 3.2 release in August?

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