From 53898778962ee4579f77b5f2875ecdee80db7625 Mon Sep 17 00:00:00 2001
From: Haldean Brown <haldean@prenav.com>
Date: Wed, 15 Mar 2017 10:36:10 -0700
Subject: [PATCH] set attitude jacobian to zero in Pose3-to-Pose3 bearing

---
 gtsam/geometry/Pose3.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index 529453bc9..8554b7f46 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -382,6 +382,7 @@ Unit3 Pose3::bearing(const Point3& point, OptionalJacobian<2, 6> H1,
 Unit3 Pose3::bearing(const Pose3& point, OptionalJacobian<2, 6> H1,
                      OptionalJacobian<2, 6> H2) const {
   if (H2) {
+    H2->setZero();
     return bearing(point.translation(), H1, H2.cols<3>(3));
   }
   return bearing(point.translation(), H1, boost::none);