void r1updt(Matrix< Scalar, Dynamic, Dynamic > &s, const Matrix< Scalar, Dynamic, 1 > &u, std::vector< JacobiRotation< Scalar > > &v_givens, std::vector< JacobiRotation< Scalar > > &w_givens, Matrix< Scalar, Dynamic, 1 > &v, Matrix< Scalar, Dynamic, 1 > &w, bool *sing)