From a738036dc038648fe49e238b19fdc8dd4d7add58 Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Fri, 4 Oct 2024 17:27:10 +0000
Subject: [PATCH] Fix crash from zero quat

Signed-off-by: Ian Chen <ichen@openrobotics.org>
---
 src/MoveToHelper.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/MoveToHelper.cc b/src/MoveToHelper.cc
index ed4c3e475..bcc0df4bc 100644
--- a/src/MoveToHelper.cc
+++ b/src/MoveToHelper.cc
@@ -74,7 +74,7 @@ void MoveToHelper::MoveTo(const CameraPtr &_camera,
   else
     key->Translation(start.Pos());
 
-  if (_target.Rot().IsFinite())
+  if (_target.Rot().IsFinite() && _target.Rot() != math::Quaterniond::Zero)
     key->Rotation(_target.Rot());
   else
     key->Rotation(start.Rot());