Add matrix and kf code

include/sta/math/linalg/linalg.hpp

@@ -0,0 +1,32 @@
+#ifndef INC_LINALG_HPP_
+#define INC_LINALG_HPP_
+#include <sta/math/linalg/matrix.hpp>
+
+namespace math 
+{
+namespace linalg 
+{
+
+matrix dot(matrix, matrix);
+float norm(matrix);
+matrix normalize(matrix);
+matrix cross(matrix, matrix);
+matrix skew_symmetric(matrix);
+matrix add(matrix, matrix);
+matrix subtract(matrix, matrix);
+matrix dot(matrix, float);
+matrix cof(matrix);
+matrix adj(matrix);
+
+matrix inv(matrix);
+
+matrix inv_adj(matrix);
+matrix inv_char_poly(matrix);
+matrix inv_schur_dec(matrix);
+
+matrix _inv_char_poly_3x3(matrix);
+matrix _inv_char_poly_2x2(matrix);
+
+}
+}
+#endif /* INC_LINALG_HPP_ */