diff --git a/include/affx/affine.hpp b/include/affx/affine.hpp
index 530c393..b2362bd 100644
--- a/include/affx/affine.hpp
+++ b/include/affx/affine.hpp
@@ -5,7 +5,7 @@
 
 #include <Eigen/Geometry>
 #include <unsupported/Eigen/EulerAngles>
-
+#include <iostream>
 
 namespace affx {
 
@@ -35,15 +35,16 @@ class Affine {
   explicit Affine(double x, double y, double z, double q_w, double q_x, double q_y, double q_z) {
     data.translation() = Eigen::Vector3d(x, y, z);
     data.linear() = Eigen::Quaterniond(q_w, q_x, q_y, q_z).toRotationMatrix();
+    
   }
 
   explicit Affine(const std::array<double, 6>& v): Affine(v[0], v[1], v[2], v[3], v[4], v[5]) { }
 
-  explicit Affine(const std::array<double, 7>& v): Affine(v[0], v[1], v[2], v[3], v[4], v[5]) { }
+  explicit Affine(const std::array<double, 7>& v): Affine(v[0], v[1], v[2], v[3], v[4], v[5], v[6]) { }
 
   explicit Affine(const Vector6d& v): Affine(v[0], v[1], v[2], v[3], v[4], v[5]) { }
 
-  explicit Affine(const Vector7d& v): Affine(v[0], v[1], v[2], v[3], v[4], v[5]) { }
+  explicit Affine(const Vector7d& v): Affine(v[0], v[1], v[2], v[3], v[4], v[5], v[6]) { }
 
   explicit Affine(const std::array<double, 16>& array) {
     Type affine(Eigen::Matrix4d::Map(array.data()));