From 47ad4c13f71a6eb30e6a98f44ce2e28e8adf1ebb Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Tue, 10 Feb 2015 22:26:29 +0100
Subject: [PATCH] Fixed Logmap

---
 gtsam/geometry/Rot3Q.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp
index e27fb792d..69dfbf93b 100644
--- a/gtsam/geometry/Rot3Q.cpp
+++ b/gtsam/geometry/Rot3Q.cpp
@@ -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);
   }