diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h
index b1490d465..f2fc4e819 100644
--- a/gtsam/slam/RegularImplicitSchurFactor.h
+++ b/gtsam/slam/RegularImplicitSchurFactor.h
@@ -115,6 +115,11 @@ public:
     return D;
   }
 
+  virtual void updateATA(const Scatter& scatter,
+                         SymmetricBlockMatrix* info) const {
+    throw std::runtime_error(
+        "RegularImplicitSchurFactor::updateATA non implemented");
+  }
   virtual Matrix augmentedJacobian() const {
     throw std::runtime_error(
         "RegularImplicitSchurFactor::augmentedJacobian non implemented");