From 7e901f4fad4b4b831b5a8abda2b586a265158e48 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Tue, 26 Apr 2011 19:40:47 +0000
Subject: [PATCH] Bug fix in debug checks - don't check lower triangle of
 Hessian because only the upper triangle is used

---
 gtsam/linear/HessianFactor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp
index 9c57ea5ea..3f6444990 100644
--- a/gtsam/linear/HessianFactor.cpp
+++ b/gtsam/linear/HessianFactor.cpp
@@ -58,7 +58,7 @@ namespace gtsam {
 #ifndef NDEBUG
     // Check for non-finite values
     for(size_t i=0; i<matrix_.size1(); ++i)
-      for(size_t j=0; j<matrix_.size2(); ++j)
+      for(size_t j=i; j<matrix_.size2(); ++j)
         if(!isfinite(matrix_(i,j)))
           throw invalid_argument("HessianFactor contains non-finite matrix entries.");
 #endif