From 762d3c7593d94aac032f83d69b3537c9e5d4577d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 4 Nov 2016 22:50:36 +0100
Subject: [PATCH] Use LOCAL quaternion update in StateQuaternion

---
 src/state_quaternion.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/state_quaternion.h b/src/state_quaternion.h
index cc854ddc9..6988ccea6 100644
--- a/src/state_quaternion.h
+++ b/src/state_quaternion.h
@@ -23,18 +23,18 @@ class StateQuaternion : public StateBlock
 };
 
 inline StateQuaternion::StateQuaternion(const Eigen::Quaternions _quaternion, bool _fixed) :
-        StateBlock(_quaternion.coeffs())
+        StateBlock(_quaternion.coeffs(), _fixed, std::make_shared<LocalParametrizationQuaternion<DQ_LOCAL>>())
 {
 }
 
 inline StateQuaternion::StateQuaternion(const Eigen::VectorXs _state, bool _fixed) :
-        StateBlock(_state, _fixed, std::make_shared<LocalParametrizationQuaternion<DQ_GLOBAL>>())
+        StateBlock(_state, _fixed, std::make_shared<LocalParametrizationQuaternion<DQ_LOCAL>>())
 {
     assert(_state.size() == 4 && "The quaternion state vector must be of size 4");
 }
 
 inline StateQuaternion::StateQuaternion(bool _fixed) :
-        StateBlock(4, _fixed, std::make_shared<LocalParametrizationQuaternion<DQ_GLOBAL>>())
+        StateBlock(4, _fixed, std::make_shared<LocalParametrizationQuaternion<DQ_LOCAL>>())
 {
     state_ = Eigen::Quaternions::Identity().coeffs();
     //
-- 
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