From e3954d541aa69a0ea9091e552fe903a0ac4a9470 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@cc.gatech.edu>
Date: Mon, 1 Feb 2016 21:07:50 +0000
Subject: [PATCH] SO3.cpp edited online with Bitbucket: KK not K*K

---
 gtsam/geometry/SO3.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp
index ceb9eae6a..4d993de8f 100644
--- a/gtsam/geometry/SO3.cpp
+++ b/gtsam/geometry/SO3.cpp
@@ -63,7 +63,7 @@ SO3 ExpmapFunctor::expmap() const {
   if (nearZero)
     return I_3x3 + W;
   else
-    return I_3x3 + sin_theta * K + one_minus_cos * K * K;
+    return I_3x3 + sin_theta * K + one_minus_cos * KK;
 }
 
 DexpFunctor::DexpFunctor(const Vector3& omega)