[Bug]: formula for pinv is transpose of the pseudoinverse #1014

The documentation of pinv shows:

$$ A^+ = U \Sigma^+ V^H $$

but it should be:

$$ A^+ = V \Sigma^+ U^H $$

It describes:

...and $\Sigma^+$ is then a diagonal matrix consisting of the reciprocals of $A$’s singular values, leaving zeros in place.

but it should probably me more like:

...and $\Sigma^+$ is then the transpose of $\Sigma$ with nonzero diagonal entries replaced by their reciprocals.

When checking this, GPT-5.6 also noticed that $U$ abd $V^H$ are described as "orthogonal", but "unitary" would be more correct in the complex case.