From 6d991a9595ffe22a0924bb8140a37355aca4cccb Mon Sep 17 00:00:00 2001
From: Abhijit Kundu <abhijit.kundu@gatech.edu>
Date: Wed, 30 Aug 2017 13:26:30 -0400
Subject: [PATCH] bug #1464 : Fixes construction of EulerAngles from 3D vector
 expression.

---
 unsupported/Eigen/src/EulerAngles/EulerAngles.h | 2 +-
 unsupported/test/EulerAngles.cpp                | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/unsupported/Eigen/src/EulerAngles/EulerAngles.h b/unsupported/Eigen/src/EulerAngles/EulerAngles.h
index a5d034d71..e43cdb7fb 100644
--- a/unsupported/Eigen/src/EulerAngles/EulerAngles.h
+++ b/unsupported/Eigen/src/EulerAngles/EulerAngles.h
@@ -341,7 +341,7 @@ EIGEN_EULER_ANGLES_TYPEDEFS(double, d)
     
     // set from a vector of Euler angles
     template<class System, class Other>
-    struct eulerangles_assign_impl<System,Other,4,1>
+    struct eulerangles_assign_impl<System,Other,3,1>
     {
       typedef typename Other::Scalar Scalar;
       static void run(EulerAngles<Scalar, System>& e, const Other& vec)
diff --git a/unsupported/test/EulerAngles.cpp b/unsupported/test/EulerAngles.cpp
index 79ee72847..500fb2d17 100644
--- a/unsupported/test/EulerAngles.cpp
+++ b/unsupported/test/EulerAngles.cpp
@@ -278,6 +278,9 @@ void test_EulerAngles()
   EulerAnglesXYZd onesEd(1, 1, 1);
   EulerAnglesXYZf onesEf = onesEd.cast<float>();
   VERIFY_IS_APPROX(onesEd, onesEf.cast<double>());
+
+  // Simple Construction from Vector3 test
+  VERIFY_IS_APPROX(onesEd, EulerAnglesXYZd(Vector3d::Ones()));
   
   CALL_SUBTEST_1( eulerangles_manual<float>() );
   CALL_SUBTEST_2( eulerangles_manual<double>() );