From 2a07cfed6604d4b9a7f43e71a7a600a0756b6fd0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 18 Mar 2020 18:18:51 -0400
Subject: [PATCH] improved rotation transpose with quaternions

---
 gtsam/geometry/Rot3Q.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp
index 377cc4a5f..64e8324b8 100644
--- a/gtsam/geometry/Rot3Q.cpp
+++ b/gtsam/geometry/Rot3Q.cpp
@@ -19,8 +19,8 @@
 
 #ifdef GTSAM_USE_QUATERNIONS
 
-#include <boost/math/constants/constants.hpp>
 #include <gtsam/geometry/Rot3.h>
+#include <boost/math/constants/constants.hpp>
 #include <cmath>
 
 using namespace std;
@@ -80,8 +80,8 @@ namespace gtsam {
 
   /* ************************************************************************* */
   const Eigen::Transpose<const Matrix3> Rot3::transpose() const {
-    // `.eval()` to avoid aliasing effect due to transpose (allows compilation).
-    return matrix().eval().transpose();
+    // `eval` for immediate evaluation (allows compilation).
+    return Rot3(matrix()).matrix().eval().transpose();
   }
 
   /* ************************************************************************* */