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const int size = 6;
MatrixXd mat1(size, size);
mat1.topLeftCorner(size/2, size/2) = MatrixXd::Zero(size/2, size/2);
mat1.topRightCorner(size/2, size/2) = MatrixXd::Identity(size/2, size/2);
mat1.bottomLeftCorner(size/2, size/2) = MatrixXd::Identity(size/2, size/2);
mat1.bottomRightCorner(size/2, size/2) = MatrixXd::Zero(size/2, size/2);
std::cout << mat1 << std::endl << std::endl;
MatrixXd mat2(size, size);
mat2.topLeftCorner(size/2, size/2).setZero();
mat2.topRightCorner(size/2, size/2).setIdentity();
mat2.bottomLeftCorner(size/2, size/2).setIdentity();
mat2.bottomRightCorner(size/2, size/2).setZero();
std::cout << mat2 << std::endl << std::endl;
MatrixXd mat3(size, size);
mat3 << MatrixXd::Zero(size/2, size/2), MatrixXd::Identity(size/2, size/2),
MatrixXd::Identity(size/2, size/2), MatrixXd::Zero(size/2, size/2);
std::cout << mat3 << std::endl;
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