SelfAdjointEigenSolver<Matrix4f> es;
Matrix4f X = Matrix4f::Random(4, 4);
Matrix4f A = X + X.transpose();
es.compute(A);
cout << "The eigenvalues of A are: " << es.eigenvalues().transpose() << endl;
es.compute(A + Matrix4f::Identity(4, 4));  // re-use es to compute eigenvalues of A+I
cout << "The eigenvalues of A+I are: " << es.eigenvalues().transpose() << endl;