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Matrix decomposition utility function

Anders Syvertsen requested to merge matrix-decomposition into master

I updated some small typos in the README and added a matrix decomposition utility function to make CA03 a bit easier, based on math.stackexchange.com/questions/237369/given-this-transformation-matrix-how-do-i-decompose-it-into-translation-rotati. I could add a simple composition function as well, but I'm thinking that one could be left as practice.

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