From 9ef8ce5fa6ff011232a16bbd15cf33b50fd3020a Mon Sep 17 00:00:00 2001
From: Stephen Williams <stephen.vincent.williams@gmail.com>
Date: Fri, 24 Feb 2012 16:21:20 +0000
Subject: [PATCH] Fixed serialization of quaternion version of Rot3

---
 gtsam/geometry/Rot3.h | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 2e16f869c..01361a655 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -363,7 +363,10 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(r2_);
       ar & BOOST_SERIALIZATION_NVP(r3_);
 #else
-      ar & BOOST_SERIALIZATION_NVP(quaternion_);
+      ar & boost::serialization::make_nvp("w", quaternion_.w());
+      ar & boost::serialization::make_nvp("x", quaternion_.x());
+      ar & boost::serialization::make_nvp("y", quaternion_.y());
+      ar & boost::serialization::make_nvp("z", quaternion_.z());
 #endif
     }
   };