On p. 329, "Recall from Section 5 that Cholesky factorization writes an SPD matrix A as A=L^T L, where L is a lower-triangular matrix with positive entries on the diagonal." To be consistent with the definition on p. 113, this should be LL^T, not L^T L.
On p. 329, "Recall from Section 5 that Cholesky factorization writes an SPD matrix A as A=L^T L, where L is a lower-triangular matrix with positive entries on the diagonal." To be consistent with the definition on p. 113, this should be LL^T, not L^T L.