Fix quaternion component error in Rot3 constructor

2018-04-01 15:32:27 +00:00 · 2018-04-01 15:32:27 +00:00 · 530f6e99fd
parent cc25ece055
commit 530f6e99fd
1 changed files with 1 additions and 1 deletions
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@ -118,7 +118,7 @@ namespace gtsam {
     * @param q The quaternion
     */
    Rot3(const Quaternion& q);
-    Rot3(double x, double y, double z, double w) : Rot3(Quaternion(x, y, z, w)) {}
+    Rot3(double w, double x, double y, double z) : Rot3(Quaternion(w, x, y, z)) {}

    /// Random, generates a random axis, then random angle \in [-p,pi]
    static Rot3 Random(boost::mt19937 & rng);