|  | @@ -112,7 +112,7 @@ class SchurEliminatorTest : public ::testing::Test {
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				|  |  |        P.block(row, row,  block_size, block_size) =
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				|  |  |            P
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				|  |  |            .block(row, row,  block_size, block_size)
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				|  |  | -          .ldlt()
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				|  |  | +          .llt()
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				|  |  |            .solve(Matrix::Identity(block_size, block_size));
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				|  |  |        row += block_size;
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				|  |  |      }
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				|  | @@ -121,7 +121,7 @@ class SchurEliminatorTest : public ::testing::Test {
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				|  |  |          .triangularView<Eigen::Upper>() = R - Q.transpose() * P * Q;
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				|  |  |      rhs_expected =
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				|  |  |          g.tail(schur_size) - Q.transpose() * P * g.head(num_eliminate_cols);
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				|  |  | -    sol_expected = H.ldlt().solve(g);
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				|  |  | +    sol_expected = H.llt().solve(g);
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				|  |  |    }
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				|  |  |  
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				|  |  |    void EliminateSolveAndCompare(const VectorRef& diagonal,
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				|  | @@ -160,7 +160,7 @@ class SchurEliminatorTest : public ::testing::Test {
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				|  |  |      Vector reduced_sol  =
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				|  |  |          lhs_ref
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				|  |  |          .selfadjointView<Eigen::Upper>()
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				|  |  | -        .ldlt()
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				|  |  | +        .llt()
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				|  |  |          .solve(rhs);
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				|  |  |  
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				|  |  |      // Solution to the linear least squares problem.
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