From 54d55aeaf61869f2bcb8af79869bf3eb0274eed4 Mon Sep 17 00:00:00 2001
From: Gael Guennebaud <g.gael@free.fr>
Date: Wed, 4 Jul 2012 18:25:07 +0200
Subject: [PATCH] fix bug #487: isometry * scaling was not compiling

---
 Eigen/src/Geometry/Scaling.h   | 17 ++++++-----------
 Eigen/src/Geometry/Transform.h | 15 ++++++---------
 test/geo_transformations.cpp   |  3 +++
 3 files changed, 15 insertions(+), 20 deletions(-)

diff --git a/Eigen/src/Geometry/Scaling.h b/Eigen/src/Geometry/Scaling.h
index 3d4b254ca..65364f07f 100644
--- a/Eigen/src/Geometry/Scaling.h
+++ b/Eigen/src/Geometry/Scaling.h
@@ -75,7 +75,12 @@ public:
 
   /** Concatenates a uniform scaling and an affine transformation */
   template<int Dim, int Mode, int Options>
-  inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim, Mode, Options>& t) const;
+  inline Transform<Scalar,Dim,int(Mode)==int(Isometry)?Affine:Mode> operator* (const Transform<Scalar,Dim, Mode, Options>& t) const
+  {
+   Transform<Scalar,Dim,int(Mode)==int(Isometry)?Affine:Mode> res = t;
+   res.prescale(factor());
+   return res;
+}
 
   /** Concatenates a uniform scaling and a linear transformation matrix */
   // TODO returns an expression
@@ -171,16 +176,6 @@ UniformScaling<Scalar>::operator* (const Translation<Scalar,Dim>& t) const
   return res;
 }
 
-template<typename Scalar>
-template<int Dim,int Mode,int Options>
-inline Transform<Scalar,Dim,Mode>
-UniformScaling<Scalar>::operator* (const Transform<Scalar,Dim, Mode, Options>& t) const
-{
-  Transform<Scalar,Dim,Mode> res = t;
-  res.prescale(factor());
-  return res;
-}
-
 } // end namespace Eigen
 
 #endif // EIGEN_SCALING_H
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index cd8d74bae..b2a503ad2 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -545,7 +545,12 @@ public:
 
   inline Transform& operator=(const UniformScaling<Scalar>& t);
   inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); }
-  inline Transform operator*(const UniformScaling<Scalar>& s) const;
+  inline Transform<Scalar,Dim,int(Mode)==int(Isometry)?Affine:Isometry> operator*(const UniformScaling<Scalar>& s) const
+  {
+    Transform<Scalar,Dim,int(Mode)==int(Isometry)?Affine:Isometry,Options> res = *this;
+    res.scale(s.factor());
+    return res;
+  }
 
   inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linear() *= s; return *this; }
 
@@ -973,14 +978,6 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::o
   return *this;
 }
 
-template<typename Scalar, int Dim, int Mode, int Options>
-inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const UniformScaling<Scalar>& s) const
-{
-  Transform res = *this;
-  res.scale(s.factor());
-  return res;
-}
-
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename Derived>
 inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r)
diff --git a/test/geo_transformations.cpp b/test/geo_transformations.cpp
index e9f05cfb6..ad3e02c8e 100644
--- a/test/geo_transformations.cpp
+++ b/test/geo_transformations.cpp
@@ -415,6 +415,9 @@ template<typename Scalar, int Mode, int Options> void transformations()
   Rotation2D<double> r2d1d = r2d1.template cast<double>();
   VERIFY_IS_APPROX(r2d1d.template cast<Scalar>(),r2d1);
 
+  t20 = Translation2(v20) * (Rotation2D<Scalar>(s0) * Scaling(s0));
+  t21 = Translation2(v20) * Rotation2D<Scalar>(s0) * Scaling(s0);
+  VERIFY_IS_APPROX(t20,t21);
 }
 
 template<typename Scalar> void transform_alignment()