From bff4238d154c1bbb37abd5f5df1bf04f0117e2cc Mon Sep 17 00:00:00 2001
From: Gael Guennebaud <g.gael@free.fr>
Date: Sat, 15 Aug 2009 10:24:27 +0200
Subject: [PATCH] fix setFromTwoVectors because of the change in sorting of the
 the singular values

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

diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h
index 2f9f97807..3d59533f4 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(2);
+    Vector3 axis = svd.matrixV().col(0);
 
     Scalar w2 = (Scalar(1)+c)*Scalar(0.5);
     this->w() = ei_sqrt(w2);