From 4b459c45c3d70bf693351f86cc38a2f4aecf0567 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Tue, 12 Jan 2010 02:09:43 +0000
Subject: [PATCH] return identity

---
 cpp/Pose3.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cpp/Pose3.cpp b/cpp/Pose3.cpp
index baa970b51..bc6fb5179 100644
--- a/cpp/Pose3.cpp
+++ b/cpp/Pose3.cpp
@@ -36,7 +36,7 @@ namespace gtsam {
   	Vector u = vector_range<const Vector>(d, range(3,6));
   	double t = norm_2(w);
 		if (t < 1e-5)
-			return Pose3(expmap<Rot3> (w), expmap<Point3> (u));
+			return Pose3(Rot3(), expmap<Point3> (u));
 		else {
 			Matrix W = skewSymmetric(w/t);
 			Matrix A = eye(3, 3) + ((1 - cos(t)) / t) * W + ((t - sin(t)) / t) * (W * W);