SelfAdjointEigenSolver<MatrixXf> es(4);
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MatrixXf X = MatrixXf::Random(4,4);
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MatrixXf A = X + X.transpose();
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es.compute(A);
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cout << "The eigenvalues of A are: " << es.eigenvalues().transpose() << endl;
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es.compute(A + MatrixXf::Identity(4,4)); // re-use es to compute eigenvalues of A+I
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cout << "The eigenvalues of A+I are: " << es.eigenvalues().transpose() << endl;
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