From 019892b9004f6eddcc15211d7af84b9eddcd91b8 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Fri, 23 Sep 2011 02:26:29 +0000
Subject: [PATCH] A bit more debug info in ldlPartial

---
 gtsam/base/cholesky.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/gtsam/base/cholesky.cpp b/gtsam/base/cholesky.cpp
index 26cd3fb5e..093540890 100644
--- a/gtsam/base/cholesky.cpp
+++ b/gtsam/base/cholesky.cpp
@@ -162,6 +162,11 @@ Eigen::LDLT<Matrix>::TranspositionType ldlPartial(Matrix& ABC, size_t nFrontal)
 
   const size_t n = ABC.rows();
 
+  if(debug) {
+    cout << "Partial LDL with " << nFrontal << " frontal scalars, ";
+    print(ABC, "ABC: ");
+  }
+
   // Compute Cholesky factorization of A, overwrites A = sqrt(D)*R
   //  tic(1, "ldl");
   Eigen::LDLT<Matrix> ldlt;
@@ -203,6 +208,8 @@ Eigen::LDLT<Matrix>::TranspositionType ldlPartial(Matrix& ABC, size_t nFrontal)
   if(debug) cout << "L:\n" << Eigen::MatrixXd(ABC.bottomRightCorner(n-nFrontal,n-nFrontal).selfadjointView<Eigen::Upper>()) << endl;
   //  toc(3, "compute L");
 
+  if(debug) cout << "P: " << ldlt.transpositionsP().indices() << endl;
+
   return ldlt.transpositionsP();
 }