Fix: updated jacobi as template (backport #560)

Squashed the following cherry-picked commits:

(cherry picked from commit 961e2f6)
(cherry picked from commit f048f92)
(cherry picked from commit 2cda290)
(cherry picked from commit b59d445)

Signed-off-by: miguelgonrod <miguelgonrod2004@gmail.com>
Co-authored-by: miguelgonrod <miguelgonrod2004@gmail.com>
(cherry picked from commit 91171df)

Author: mergify[bot]

src/DopplerVelocityLog.cc

@@ -1570,9 +1570,11 @@ namespace gz
       if (numBeamsLocked >= 3)
       {
         // Enough rows for a unique least squares solution
-        const auto svdDecomposition =
-            beamBasis.topRows(numBeamsLocked).jacobiSvd(
-                Eigen::ComputeThinU | Eigen::ComputeThinV);
+        const Eigen::MatrixXd svdMat =
+          beamBasis.topRows(numBeamsLocked).eval();
+        using SvdT = Eigen::JacobiSVD<Eigen::MatrixXd>;
+        const SvdT svdDecomposition(svdMat,
+          Eigen::ComputeThinU | Eigen::ComputeThinV);
 
         // Estimate DVL velocity mean and covariance in the reference frame
         const Eigen::Vector3d velocityMeanInReferenceFrame =
@@ -1798,9 +1800,11 @@ namespace gz
       if (numBeamsLocked >= 3)
       {
         // Enough rows for a unique least squares solution
-        const auto svdDecomposition =
-            beamBasis.topRows(numBeamsLocked).jacobiSvd(
-                Eigen::ComputeThinU | Eigen::ComputeThinV);
+        const Eigen::MatrixXd svdMat =
+          beamBasis.topRows(numBeamsLocked).eval();
+        using SvdT = Eigen::JacobiSVD<Eigen::MatrixXd>;
+        const SvdT svdDecomposition(svdMat,
+          Eigen::ComputeThinU | Eigen::ComputeThinV);
 
         // Estimate DVL velocity mean and covariance in the reference frame
         const Eigen::Vector3d velocityMeanInReferenceFrame =