Correct the iterative calculation of the polar decomposition and its derivative

Before, the calculation was terminated after exactly three iterations, now the stopping criterion is fulfilled if the change in the norm of the polar factor is small enough. Also: add the algorithm by Higham and Noferini, done by Robin Fränzel.

@osander Is using the frobenius_norm as a stopping criterion a valid choice here? Or do you have something better in mind?

Frobenius is okay.

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changed title from Correct the itertative calculation of the polar decompositon and its derivative to Correct the iterative calculation of the polar decompositon and its derivative

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@osander: can you have a look? This now includes the code from Robin.

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