From ede01ac6d319be12bf8cbffc41503dc053cb4f08 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sun, 21 Dec 2014 19:00:15 +0100
Subject: [PATCH] Bugfix ScalarTraits

---
 gtsam/base/concepts.h | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/gtsam/base/concepts.h b/gtsam/base/concepts.h
index 2bb87c9fa..82a0ee7e4 100644
--- a/gtsam/base/concepts.h
+++ b/gtsam/base/concepts.h
@@ -243,7 +243,9 @@ struct ScalarTraits {
   }
 
   static TangentVector Local(Scalar origin, Scalar other) {
-    return TangentVector(other - origin);
+    TangentVector result;
+    result(0) = other - origin;
+    return result;
   }
 
   static Scalar Retract(Scalar origin, const TangentVector& v) {
@@ -254,7 +256,7 @@ struct ScalarTraits {
       ChartJacobian Hother = boost::none) {
     if (Horigin) (*Horigin)[0] = -1.0;
     if (Hother) (*Hother)[0] = 1.0;
-    return TangentVector(other - origin);
+    return Local(origin,other);
   }
 
   static Scalar Retract(Scalar origin, const TangentVector& v,
@@ -291,12 +293,12 @@ struct ScalarTraits {
   }
 
   static Scalar Identity() { return 0; }
-  static TangentVector Logmap(Scalar m) {return TangentVector(m);}
+  static TangentVector Logmap(Scalar m) {return Local(0,m);}
   static Scalar Expmap(const TangentVector& v) { return v[0];}
 
   static TangentVector Logmap(Scalar m, ChartJacobian Hm) {
     if (Hm) (*Hm)[0] = 1.0;
-    return TangentVector(m);
+    return Local(0,m);
   }
 
   static Scalar Expmap(const TangentVector& v, ChartJacobian Hv) {