I was reading up on the Kerr metric (from Sean Carroll's book) and something that he said confused me.
To start with, the Kerr metric is pretty messy, but importantly, it contains two constants - $M$ and $a$. $M$ is identified as some mass, and $a$ is identified as angular momentum per unit mass. He says that this metric reduces to flat space in the limit $M \rightarrow 0$, and is given by $$ds^2 = -dt^2 + \frac{r^2 + a^2 \cos^2\theta}{r^2 + a^2}dr^2 + \left(r^2 + a^2 \cos^2\theta \right)d\theta^2 + \left(r^2 + a^2 \right)\sin^2\theta d\phi^2 $$
and $r$, $\theta$ and $\phi$ are regular spherical polar co-ordinates.
But I don't understand why this space is obviously flat. The Schwarzschild metric also contains terms involving $dt^2$, $dr^2$, $d\theta^2$ and $d\phi^2$ but is curved. I always thought that a metric with off diagonal elements implied a curved space, but clearly I was very wrong.
Question: How do you tell if a metric is curved or not, from it's components?