From 6c02cbbb0f1786f5f22285342850250c28845272 Mon Sep 17 00:00:00 2001
From: Gael Guennebaud <g.gael@free.fr>
Date: Tue, 1 Dec 2015 09:45:56 +0100
Subject: Fix matrix to quaternion (and angleaxis) conversion for matrix
 expression.

---
 Eigen/src/Geometry/Quaternion.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'Eigen')

diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h
index 56fa2bfbf..32e7e76fa 100644
--- a/Eigen/src/Geometry/Quaternion.h
+++ b/Eigen/src/Geometry/Quaternion.h
@@ -739,8 +739,9 @@ template<typename Other>
 struct quaternionbase_assign_impl<Other,3,3>
 {
   typedef typename Other::Scalar Scalar;
-  template<class Derived> static inline void run(QuaternionBase<Derived>& q, const Other& mat)
+  template<class Derived> static inline void run(QuaternionBase<Derived>& q, const Other& a_mat)
   {
+    const typename internal::nested_eval<Other,2>::type mat(a_mat);
     using std::sqrt;
     // This algorithm comes from  "Quaternion Calculus and Fast Animation",
     // Ken Shoemake, 1987 SIGGRAPH course notes
-- 
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