{"action":"closed","issue":{"url":"https://api.github.com/repos/sfwa/ukf/issues/34","repository_url":"https://api.github.com/repos/sfwa/ukf","labels_url":"https://api.github.com/repos/sfwa/ukf/issues/34/labels{/name}","comments_url":"https://api.github.com/repos/sfwa/ukf/issues/34/comments","events_url":"https://api.github.com/repos/sfwa/ukf/issues/34/events","html_url":"https://github.com/sfwa/ukf/issues/34","id":187577631,"number":34,"title":"error in initialization of quaternions","user":{"login":"spaghetti-","id":2093506,"avatar_url":"https://avatars.githubusercontent.com/u/2093506?v=3","gravatar_id":"","url":"https://api.github.com/users/spaghetti-","html_url":"https://github.com/spaghetti-","followers_url":"https://api.github.com/users/spaghetti-/followers","following_url":"https://api.github.com/users/spaghetti-/following{/other_user}","gists_url":"https://api.github.com/users/spaghetti-/gists{/gist_id}","starred_url":"https://api.github.com/users/spaghetti-/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/spaghetti-/subscriptions","organizations_url":"https://api.github.com/users/spaghetti-/orgs","repos_url":"https://api.github.com/users/spaghetti-/repos","events_url":"https://api.github.com/users/spaghetti-/events{/privacy}","received_events_url":"https://api.github.com/users/spaghetti-/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2016-11-06T18:03:34Z","updated_at":"2016-11-06T22:18:48Z","closed_at":"2016-11-06T22:18:48Z","body":"@danieldyer apologies for opening an issue here on an old revision (however I could not find your email to mail you directly)\r\n\r\nhttps://github.com/sfwa/ukf/blob/f69d985755605d5dc621f5f0578b191414fd0264/src/state.cpp#L66\r\n\r\nI read reading through the code here and I saw that you were initializing a quaternion using `Quaterniond(x.segment<4>(9))` which would initialize it in the form `Quaterniond(x, y, z, w)` because of your state definition (JPL style quaternion) however Eigen uses Hamilton quaternions `(w, x, y, z`. May I know if this was intended or a bug? "}}
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