From Simon and Blume (p. 391):
Using a bordered hessian H with m constraints, to verify positive definiteness, check that det(H2m+1) has the same sign as (-1)m and that all larger leading principal minors have this sign too.
To verify negative definiteness, check that det(H2m+1) has the same sign as (-1)m+1 and that the leading principal minors of larger order alternate in sign.
I wanted to know if there are similar rules in checking for positive/negative semi-definiteness, since the objective function need only be quasiconcave/quasiconvex for my purposes. Is there a resource with as clean notation as this?