Added comments, added straightforward matrix powers, added column based TSQR
Tested straightforward column based matrix powers
Fixed convertToFullMatrix bug
Added and tested matmat to Utilities.h
Convinced myself that tsQR works.

Fixed a few bugs in mgs_col and other _col functions
TSQR_col works and spits out explicit Q.
Testing TSQR_col... it's really slow.
Merge branch 'Ben's-Branch'