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Expand CMake compatibility range for single-version specifications.

Description

Expand CMake compatibility range for single-version specifications.

We initially limited the configuration to only accept versions matching the exact requested version, so that

find_package(Eigen3 5.1)

would only match versions starting specifically with 5.1, and not 5.2. Due to discussions in #3004 (closed), we are expanding the range to consider semantic versioning, so that

find_package(Eigen3 5.1)

will match 5.1.0 and up to (but not including) 6.0.0. For the previous behavior, use the EXACT specifier, so

find_package(Eigen3 5.1 EXACT)

will still match the range 5.1.0 up to (but not including) 5.2.0.

Reference issue

Fixes #3004 (closed).

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