//    Eigen::MatrixXd B(2, 2);
//        B << 0, 1,
//             0, 2;
//        std::cout << "Here is the matrix B:\n" << B << '\n';
//        std::cout << "The determinant of B is: " << B.determinant() << '\n';
//        std::cout << "The inverse of B is:\n" << B.inverse() << '\n';
//        std::cout << "The pseudo-inverse of B is:\n" << B.completeOrthogonalDecomposition().pseudoInverse() << endl;