function [R,tau] = mcholinc(H,verbose)

% Computes Cholesky of H+tau*I, for suitably large tau that matrix is pd

p = size(H,1);

beta = norm(H,'fro');

if min(diag(H)) > 1e-12

    tau = 0;

else

    if verbose

        fprintf('Small Value on Diagonal, Adjusting Hessian\n');

    end

    tau = max(beta/2,1e-12);

end

while 1

    [R,posDef] = chol(H+tau*eye(p));

    if posDef == 0

        break;

    else

        if verbose

            fprintf('Cholesky Failed, Adjusting Hessian\n');

        end

        tau = max(2*tau,beta/2);

    end

end