From d4c24eb01630c21aa0a83a77511fff9f689aefa8 Mon Sep 17 00:00:00 2001
From: Sergiu Dotenco <sergiu.dotenco@gmail.com>
Date: Thu, 20 Aug 2015 20:55:37 +0200
Subject: [PATCH] fixed Quaternion identity initialization for non-implicitly
 convertible types

---
 Eigen/src/Geometry/Quaternion.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h
index 7a30dc0b6..19276b96a 100644
--- a/Eigen/src/Geometry/Quaternion.h
+++ b/Eigen/src/Geometry/Quaternion.h
@@ -103,11 +103,11 @@ class QuaternionBase : public RotationBase<Derived, 3>
   /** \returns a quaternion representing an identity rotation
     * \sa MatrixBase::Identity()
     */
-  static inline Quaternion<Scalar> Identity() { return Quaternion<Scalar>(1, 0, 0, 0); }
+  static inline Quaternion<Scalar> Identity() { return Quaternion<Scalar>(Scalar(1), Scalar(0), Scalar(0), Scalar(0)); }
 
   /** \sa QuaternionBase::Identity(), MatrixBase::setIdentity()
     */
-  inline QuaternionBase& setIdentity() { coeffs() << 0, 0, 0, 1; return *this; }
+  inline QuaternionBase& setIdentity() { coeffs() << Scalar(0), Scalar(0), Scalar(0), Scalar(1); return *this; }
 
   /** \returns the squared norm of the quaternion's coefficients
     * \sa QuaternionBase::norm(), MatrixBase::squaredNorm()