From 2527f34e75224a0441b2657117b50fc1cbecd591 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@cc.gatech.edu>
Date: Wed, 15 May 2019 22:32:13 -0400
Subject: [PATCH] Print extra debug information for ILS in Debug mode

---
 gtsam/linear/HessianFactor.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp
index da7d7bd7b..d16373c78 100644
--- a/gtsam/linear/HessianFactor.cpp
+++ b/gtsam/linear/HessianFactor.cpp
@@ -487,6 +487,11 @@ boost::shared_ptr<GaussianConditional> HessianFactor::eliminateCholesky(const Or
     // Erase the eliminated keys in this factor
     keys_.erase(begin(), begin() + nFrontals);
   } catch (const CholeskyFailed&) {
+#ifndef NDEBUG
+    cout << "Partial Cholesky on HessianFactor failed." << endl;
+    keys.print("Frontal keys ");
+    print("HessianFactor:");
+#endif
     throw IndeterminantLinearSystemException(keys.front());
   }