From 5a792c884703a08d81f47bef5167a5db4733c6b6 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Wed, 22 Oct 2014 21:55:35 +0200
Subject: [PATCH] No Cayley in quaternion mode

---
 tests/testManifold.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/testManifold.cpp b/tests/testManifold.cpp
index 2c3b20434..a55e2fdea 100644
--- a/tests/testManifold.cpp
+++ b/tests/testManifold.cpp
@@ -91,7 +91,7 @@ TEST(Manifold, DefaultChart) {
   Vector v3(3);
   v3 << 1, 1, 1;
   Rot3 I = Rot3::identity();
-  Rot3 R = I.retractCayley(v3);
+  Rot3 R = I.retract(v3);
   DefaultChart<Rot3> chart5(I);
   EXPECT(assert_equal(v3,chart5.apply(R)));
   EXPECT(assert_equal(chart5.retract(v3),R));