Add a restart tolerance parameter - #2073
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This PR adds a tolerance parameter in addition to restart iter (krylov_dim), which enables a cleaner backward error analysis and also makes restarted GMRES similar to GMRES-IR. See Buttari et.al.
In practice, it also seems to improve performance by reducing the overall time (when the basis size increases), but can increase the total number of restarts.
An additional benefit of this was that when I tested this with CB-GMRES, it gave better convergence for FP32/FP16 than what was observed with fixed krylov_dim in our CBGMRES paper Aliaga et.al