It is usually called positive semidefinite unless Jackson didn't use something completely different. It means that for a bilinear real form: ##\beta\, : \,\mathbb{R}^n\times \mathbb{R}^n\longrightarrow \mathbb{R}## we have ##\beta(v,v)=\langle v,v\rangle \geq 0##.
The essential difference to a usual inner product (positive definite) is, that there may be vectors ##v\neq 0## such that ##\beta(v,v)=0##.