Fixed Logmap
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				|  | @ -136,7 +136,7 @@ namespace gtsam { | |||
|   /* ************************************************************************* */ | ||||
|   Vector3 Rot3::Logmap(const Rot3& R, OptionalJacobian<3, 3> H) { | ||||
| //    if(H) *H = Rot3::LogmapDerivative(thetaR);
 | ||||
| //    return QuaternionChart::Logmap(R.quaternion_);
 | ||||
|     return traits<Quaternion>::Logmap(R.quaternion_, H); | ||||
|     return Vector3(0,0,0); | ||||
|   } | ||||
| 
 | ||||
|  |  | |||
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