From 27ddedfc630206a87c980c6b64f1b90dc7f26747 Mon Sep 17 00:00:00 2001
From: HViktorTsoi <cuijiahetony@live.com>
Date: Wed, 8 Jun 2022 16:42:50 +0800
Subject: [PATCH] Replace the usage of Rot3::quaternion to Rot3::toQuaternion
 in 'timeShonanAveraging.cpp'

---
 gtsam_unstable/timing/timeShonanAveraging.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam_unstable/timing/timeShonanAveraging.cpp b/gtsam_unstable/timing/timeShonanAveraging.cpp
index e932b6400..74dd04a78 100644
--- a/gtsam_unstable/timing/timeShonanAveraging.cpp
+++ b/gtsam_unstable/timing/timeShonanAveraging.cpp
@@ -79,9 +79,9 @@ void saveG2oResult(string name, const Values& values, std::map<Key, Pose3> poses
         myfile << "VERTEX_SE3:QUAT" << " ";
         myfile << i << " ";
         myfile << poses[i].x() << " " << poses[i].y() << " " << poses[i].z() << " ";
-        Vector quaternion = Rot3(R).quaternion();
-        myfile << quaternion(3) << " " << quaternion(2) << " " << quaternion(1)
-               << " " << quaternion(0);
+        Quaternion quaternion = Rot3(R).toQuaternion();
+        myfile << quaternion.x() << " " << quaternion.y() << " " << quaternion.z()
+               << " " << quaternion.w();
         myfile << "\n";
     }
     myfile.close();