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Make the writing of the factorisations in linalg more uniform #220
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    Added properties of the returned matrices in the main description and the return section Uniform: Always say "(or a stack of matrices)" rather than repeating the properties of the matrices. E.g. Do not write "a square matrix (or a stack of square matrices)" but simply "a square matrix (or stack of matrices)" Uniform: Prefer "Returns" over "Computes" at the start of every description. Uniform: Prefer "decomposition" over "factorization"
              
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The presentation of equations will be fixed in a follow-up PR including TeX rendering support.
              
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LGTM.
  
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Fixes #209
I also took the liberty to make the descriptions of the factorisations more uniform.
Happy to change any of them if the reviewers believe that a different option is better.
Added explicit formulae for the factorisations in the main description
Added properties (triangular, orthogonal, etc) of the returned matrices in the main description and
the return section
Uniform language: Prefer "Returns" over "Computes" at the start of every
description.
Uniform language: Prefer "decomposition" over "factorization"
cc @rgommers @asmeurer