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Revert a call to SolveUpperTriangularUsingCholesky.
The call to llt in backsubstitute seems to be using one of the fixed size specializations which is best done with an inline call to llt/ldlt rather than introducing yet another variant of the SolverUpperTriangularUsingCholesky and calling it. Also change the way SolverUpperTriangularUsingCholesky handles error. It always computes the solution even if it is garbage and then returns the error code. This ensures that the previous code that depends on unconditional computation still works. Change-Id: Idb1e6efdae9a3775a072e3b87cde02e0bbddb319
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