diff --git a/include/eigenpy/quaternion.hpp b/include/eigenpy/quaternion.hpp
index 5c2c2bfcf5a75133a314efb1312bea53c6f77885..1f824eced7d5beafa4ff044ebb8e978fc3fedc7a 100644
--- a/include/eigenpy/quaternion.hpp
+++ b/include/eigenpy/quaternion.hpp
@@ -277,7 +277,7 @@ namespace eigenpy
     
     static Quaternion* FromOneVector(const Vector4& v)
     {
-      Quaternion* q(new Quaternion(v));
+      Quaternion* q(new Quaternion(v[3],v[0],v[1],v[2]));
       return q;
     }