Enhance finite_jacobian functionality with tensor order support

- Follows the convention that even-order tensors (e.g., matrices) are stored in column-blocks, while odd-order tensors are stored in row-blocks. This is based on the tensor vectorization presented in "Dynamic Deformables" by Kim and Eberle [2022].
- Update CMake configuration to use C++17
- Add tests for size mismatch and tensor layouts

Disable CATCH_CONFIG_CPP17_STRING_VIEW

abs -> std::abs

Use Eigen::Ref for input

Update continuous.yml