From 711535e81854dc7e9161ebfe916d4b5fe63ac65a Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Wed, 9 Nov 2011 03:33:13 +0000
Subject: [PATCH] Added missing header and reverted debugging change from
 quaternion merge

---
 gtsam/geometry/Makefile.am | 3 ++-
 gtsam/geometry/Rot3M.cpp   | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/gtsam/geometry/Makefile.am b/gtsam/geometry/Makefile.am
index befeef3ec..42a325971 100644
--- a/gtsam/geometry/Makefile.am
+++ b/gtsam/geometry/Makefile.am
@@ -14,7 +14,8 @@ check_PROGRAMS =
 headers += concepts.h
 
 # Points and poses
-sources += Point2.cpp Rot2.cpp Pose2.cpp Point3.cpp Rot3M.cpp Rot3Q.cpp Pose3.cpp 
+sources += Point2.cpp Rot2.cpp Pose2.cpp Point3.cpp Rot3M.cpp Rot3Q.cpp Pose3.cpp
+headers += Rot3.h
 check_PROGRAMS += tests/testPoint2 tests/testRot2 tests/testPose2 tests/testPoint3 tests/testRot3M tests/testRot3Q tests/testPose3
 
 # Cameras
diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp
index 86ed82d63..928b9b450 100644
--- a/gtsam/geometry/Rot3M.cpp
+++ b/gtsam/geometry/Rot3M.cpp
@@ -170,7 +170,7 @@ namespace gtsam {
             R.r2().z()-R.r3().y(),
             R.r3().x()-R.r1().z(),
             R.r1().y()-R.r2().x());
-		} else if (fabs(tr) - -1.0 < 1e-10) { // when theta = +-pi, +-3pi, +-5pi, etc.
+		} else if (fabs(tr - -1.0) < 1e-10) { // when theta = +-pi, +-3pi, +-5pi, etc.
       if(fabs(R.r3().z() - -1.0) > 1e-10)
         return (boost::math::constants::pi<double>() / sqrt(2.0+2.0*R.r3().z())) *
         Vector_(3, R.r3().x(), R.r3().y(), 1.0+R.r3().z());