From bf31d81aac6e5fcec4e8f3ac0bd626b7fb249417 Mon Sep 17 00:00:00 2001
From: Benoit Jacob <jacob.benoit.1@gmail.com>
Date: Sun, 24 Aug 2008 20:53:04 +0000
Subject: [PATCH] argh, gael you're more clever than i remembered. diagonal
 product is optimized. so, i almost revert, just reordering to reduce # of
 load/store.

---
 Eigen/src/Geometry/Transform.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index 16e552fdd..1b68a37e5 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -388,7 +388,7 @@ Transform<Scalar,Dim>::fromPositionOrientationScale(const MatrixBase<PositionDer
   const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
 {
   linear() = ToRotationMatrix<Scalar,Dim,OrientationType>::convert(orientation);
-  for(int i = 0; i < Dim; i++) linear().col(i) *= scale.coeff(i);
+  linear() *= scale.asDiagonal();
   translation() = position;
   m_matrix(Dim,Dim) = 1.;
   m_matrix.template block<1,Dim>(Dim,0).setZero();