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Simplifying current reverse mode functions #2018

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@bbbales2

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@bbbales2

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This pull introduced a new way to write reverse mode autodiff: #2011

Because this is simple to use, it should be a good way to program all the upcoming var_value<MatrixXd> implementations.

Given it'll be used there, it would also be cool to convert all the current reverse mode stuff. This should cut a ton of code. This issue is for tracking efforts to convert the current autodiff (and make sure the new stuff is general enough and fast enough).

Current Version:

v3.3.0

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