From 9cf6bb3f0fb19e38cba0e382928d38af5d1da702 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Wed, 11 Feb 2015 15:00:32 +0100
Subject: [PATCH] Check quaternions

---
 gtsam/geometry/tests/testRot3Q.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/gtsam/geometry/tests/testRot3Q.cpp b/gtsam/geometry/tests/testRot3Q.cpp
index 1c80fc2f4..9ae8eef13 100644
--- a/gtsam/geometry/tests/testRot3Q.cpp
+++ b/gtsam/geometry/tests/testRot3Q.cpp
@@ -62,6 +62,9 @@ TEST(Rot3Q , Compare) {
   R R5 = R3.between(R4);
   EXPECT(assert_equal(R(q5), R5));
 
+  // Check toQuaternion
+  EXPECT(assert_equal(q5, R5.toQuaternion()));
+
   // Check Logmap
   Vector3 vQ = TQ::Logmap(q5);
   Vector3 vR = R::Logmap(R5);