more MSVC fixes, and more code factorization in Geometry module

Eigen/src/Geometry/AngleAxis.h

@@ -109,18 +109,6 @@ public:
   friend inline QuaternionType operator* (const QuaternionType& a, const AngleAxis& b)
   { return a * QuaternionType(b); }
 
-  /** Concatenates two rotations */
-  inline Matrix3 operator* (const Matrix3& other) const
-  { return toRotationMatrix() * other; }
-
-  /** Concatenates two rotations */
-  inline friend Matrix3 operator* (const Matrix3& a, const AngleAxis& b)
-  { return a * b.toRotationMatrix(); }
-
-  /** Applies rotation to vector */
-  inline Vector3 operator* (const Vector3& other) const
-  { return toRotationMatrix() * other; }
-
   /** \returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */
   AngleAxis inverse() const
   { return AngleAxis(-m_angle, m_axis); }

Eigen/src/Geometry/Quaternion.h

@@ -61,12 +61,14 @@ template<typename _Scalar>
 class Quaternion : public RotationBase<Quaternion<_Scalar>,3>
 {
   typedef RotationBase<Quaternion<_Scalar>,3> Base;
-  
+
+
+
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,4)
 
   using Base::operator*;
-  
+
   /** the scalar type of the coefficients */
   typedef _Scalar Scalar;
 
@@ -193,8 +195,6 @@ public:
 
   Quaternion slerp(Scalar t, const Quaternion& other) const;
 
-  Vector3 operator* (const Vector3& vec) const;
-
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *
     * Note that if \a NewScalarType is equal to the current scalar type of \c *this
@@ -216,7 +216,9 @@ public:
   bool isApprox(const Quaternion& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
   { return m_coeffs.isApprox(other.m_coeffs, prec); }
 
-protected: 
+  Vector3 _transformVector(Vector3 v) const;
+
+protected:
   Coefficients m_coeffs;
 };
 
@@ -256,7 +258,7 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::operator*= (const Quaternion& oth
   */
 template <typename Scalar>
 inline typename Quaternion<Scalar>::Vector3
-Quaternion<Scalar>::operator* (const Vector3& v) const
+Quaternion<Scalar>::_transformVector(Vector3 v) const
 {
     // Note that this algorithm comes from the optimization by hand
     // of the conversion to a Matrix followed by a Matrix/Vector product.

Eigen/src/Geometry/RotationBase.h

@@ -42,10 +42,31 @@ class RotationBase
     enum { Dim = _Dim };
     /** the scalar type of the coefficients */
     typedef typename ei_traits<Derived>::Scalar Scalar;
-    
+
     /** corresponding linear transformation matrix type */
     typedef Matrix<Scalar,Dim,Dim> RotationMatrixType;
+    typedef Matrix<Scalar,Dim,1> VectorType;
 
+  protected:
+    template<typename MatrixType, bool IsVector=MatrixType::IsVectorAtCompileTime>
+    struct generic_product_selector
+    {
+      typedef RotationMatrixType ReturnType;
+      inline static RotationMatrixType run(const Derived& r, const MatrixType& m)
+      { return r.toRotationMatrix() * m; }
+    };
+
+    template<typename OtherVectorType>
+    struct generic_product_selector<OtherVectorType,true>
+    {
+      typedef VectorType ReturnType;
+      inline static VectorType run(const Derived& r, const OtherVectorType& v)
+      {
+        return r._transformVector(v);
+      }
+    };
+
+  public:
     inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
     inline Derived& derived() { return *static_cast<Derived*>(this); }
 
@@ -62,12 +83,17 @@ class RotationBase
     /** \returns the concatenation of the rotation \c *this with a uniform scaling \a s */
     inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
     { return toRotationMatrix() * s.factor(); }
-    
-    /** \returns the concatenation of the rotation \c *this with a linear transformation \a l */
+
+    /** \returns the concatenation of the rotation \c *this with a generic expression \a e
+      * \a e can be:
+      *  - a DimxDim linear transformation matrix (including an axis aligned scaling)
+      *  - a vector of size Dim
+      */
     template<typename OtherDerived>
-    inline RotationMatrixType operator*(const MatrixBase<OtherDerived>& l) const
-    { return toRotationMatrix() * l.derived(); }
-    
+    inline typename generic_product_selector<OtherDerived>::ReturnType
+    operator*(const MatrixBase<OtherDerived>& e) const
+    { return generic_product_selector<OtherDerived>::run(derived(), e.derived()); }
+
     /** \returns the concatenation of a linear transformation \a l with the rotation \a r */
     template<typename OtherDerived> friend
     inline RotationMatrixType operator*(const MatrixBase<OtherDerived>& l, const Derived& r)
@@ -76,6 +102,10 @@ class RotationBase
     /** \returns the concatenation of the rotation \c *this with an affine transformation \a t */
     inline Transform<Scalar,Dim> operator*(const Transform<Scalar,Dim>& t) const
     { return toRotationMatrix() * t; }
+
+    template<typename OtherVectorType>
+    inline VectorType _transformVector(const OtherVectorType& v) const
+    { return toRotationMatrix() * v; }
 };
 
 /** \geometry_module