From 6d47bd45522d073a3e52235f3409d027a815d01e Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 8 Mar 2025 19:45:52 -0500
Subject: [PATCH] Address review comments

---
 gtsam/base/Lie.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h
index 827141e58..325ce2d40 100644
--- a/gtsam/base/Lie.h
+++ b/gtsam/base/Lie.h
@@ -229,7 +229,7 @@ struct LieGroupTraits: public GetDimensionImpl<Class, Class::dimension> {
 /// Both LieGroupTraits and Testable
 template<class Class> struct LieGroup: LieGroupTraits<Class>, Testable<Class> {};
 
-/// Adds LieAlgebra, Hat, and Vie to LieGroupTraits
+/// Adds LieAlgebra, Hat, and Vee to LieGroupTraits
 template<class Class> struct MatrixLieGroupTraits: LieGroupTraits<Class> {
   using LieAlgebra = typename Class::LieAlgebra;
   using TangentVector = typename LieGroupTraits<Class>::TangentVector;
@@ -351,7 +351,7 @@ template <class T> Matrix wedge(const Vector& x);
  */
 template <class T>
 T expm(const Vector& x, int K = 7) {
-  auto xhat = T::Hat(x);
+  const Matrix xhat = T::Hat(x);
   return T(expm(xhat, K));
 }