From 044dd0c1ddaee5d432c81b8d5d8c3674b7a003f2 Mon Sep 17 00:00:00 2001
From: Gael Guennebaud <g.gael@free.fr>
Date: Sat, 15 Aug 2009 23:37:20 +0200
Subject: [PATCH] revert previous change in Quaternion::setFromTwoVectors

---
 Eigen/Geometry                  | 1 +
 Eigen/src/Geometry/Quaternion.h | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/Eigen/Geometry b/Eigen/Geometry
index 9cae3459c..c931f28fe 100644
--- a/Eigen/Geometry
+++ b/Eigen/Geometry
@@ -7,6 +7,7 @@
 
 #include "Array"
 #include "SVD"
+#include "LU"
 #include <limits>
 
 #ifndef M_PI
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h
index 3d59533f4..2f9f97807 100644
--- a/Eigen/src/Geometry/Quaternion.h
+++ b/Eigen/src/Geometry/Quaternion.h
@@ -373,7 +373,7 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas
     c = std::max<Scalar>(c,-1);
     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
     SVD<Matrix<Scalar,2,3> > svd(m);
-    Vector3 axis = svd.matrixV().col(0);
+    Vector3 axis = svd.matrixV().col(2);
 
     Scalar w2 = (Scalar(1)+c)*Scalar(0.5);
     this->w() = ei_sqrt(w2);