From 948367603b2968acc17b22cc6a3a0096b3755519 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@cc.gatech.edu>
Date: Sat, 13 Apr 2019 22:06:18 -0400
Subject: [PATCH] Fixed missing transpose

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

diff --git a/gtsam/linear/GaussianConditional.cpp b/gtsam/linear/GaussianConditional.cpp
index 445941fa8..85569de14 100644
--- a/gtsam/linear/GaussianConditional.cpp
+++ b/gtsam/linear/GaussianConditional.cpp
@@ -172,7 +172,7 @@ namespace gtsam {
   /* ************************************************************************* */
   void GaussianConditional::solveTransposeInPlace(VectorValues& gy) const {
     Vector frontalVec = gy.vector(KeyVector(beginFrontals(), endFrontals()));
-    frontalVec = get_R().triangularView<Eigen::Upper>().solve<Eigen::OnTheLeft>(frontalVec);
+    frontalVec = get_R().transpose().triangularView<Eigen::Lower>().solve(frontalVec);
 
     // Check for indeterminant solution
     if (frontalVec.hasNaN()) throw IndeterminantLinearSystemException(this->keys().front());