Fix ordering issue of Rot3::quaternion

borglab · Jun 7, 2022 · 605f6f1 · 605f6f1
1 parent 9a1eb02
commit 605f6f1
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp
@@ -231,10 +231,10 @@ double Rot3::yaw(OptionalJacobian<1, 3> H) const {
 Vector Rot3::quaternion() const {
   gtsam::Quaternion q = toQuaternion();
   Vector v(4);
-  v(0) = q.w();
-  v(1) = q.x();
-  v(2) = q.y();
-  v(3) = q.z();
+  v(0) = q.x();
+  v(1) = q.y();
+  v(2) = q.z();
+  v(3) = q.w();
   return v;
 }