Explicitly cast exp(log(q)) to a RotationMatrix{3}

Workaround for JuliaGeometry/Rotations.jl#198
probcomp · Nov 13, 2021 · 159e86b · 159e86b
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commit 159e86b
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diff --git a/Project.toml b/Project.toml
@@ -10,7 +10,7 @@ Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
 [compat]
-julia = "1.5"
 DocStringExtensions = "0.8.5"
 Rotations = "1.0"
 StaticArrays = "1.0"
+julia = "1.5"
diff --git a/src/PoseComposition.jl b/src/PoseComposition.jl
@@ -2,7 +2,7 @@ module PoseComposition
 
 import Base: @kwdef
 import LinearAlgebra: dot, norm, cross
-import Rotations: AngleAxis, Rotation, UnitQuaternion, RotZYX
+import Rotations: AngleAxis, Rotation, UnitQuaternion, RotZYX, RotMatrix
 import StaticArrays: StaticVector, SVector, @SVector
 
 include("docstring_extensions.jl")
@@ -298,7 +298,7 @@ function quatPow(q::UnitQuaternion, t::Real)
   if t == 0 || q == one(UnitQuaternion) || q == -one(UnitQuaternion)
     return one(UnitQuaternion)
   end
-  return exp(t * log(q))
+  return RotMatrix{3}(exp(t * log(q)))
 end