From ff0cb3eafb7715cf7eea17b59d37a51869715ff9 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Wed, 16 Feb 2011 13:34:36 +0000
Subject: [PATCH] Added convenience constructor for Rot3

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

diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index b79afedb8..9c1fb9a22 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -78,6 +78,10 @@ namespace gtsam {
     static Rot3 Ry(double t);
     static Rot3 Rz(double t);
     static Rot3 RzRyRx(double x, double y, double z);
+    inline static Rot3 RzRyRx(const Vector& xyz) {
+    	assert(xyz.size() == 3);
+    	return RzRyRx(xyz(0), xyz(1), xyz(2));
+    }
 
     /**
      * Tait-Bryan system from Spatial Reference Model (SRM) (x,y,z) = (roll,pitch,yaw)