From c2861dd41a1b0f86757af98011d20e156b05979b Mon Sep 17 00:00:00 2001
From: Hauke Heibel <hauke.heibel@gmail.com>
Date: Thu, 6 Aug 2009 12:25:18 +0200
Subject: [PATCH] fixed inversion for AffineCompact matrices

---
 Eigen/src/Geometry/Transform.h | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index 842a6bb4e..2762ea2b5 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -911,8 +911,11 @@ Transform<Scalar,Dim,Mode>::inverse(TransformTraits hint) const
     }
     // translation and remaining parts
     res.template corner<Dim,1>(TopRight) = - res.template corner<Dim,Dim>(TopLeft) * translation();
-    res.template corner<1,Dim>(BottomLeft).setZero();
-    res.coeffRef(Dim,Dim) = Scalar(1);
+    if (int(Mode)!=AffineCompact)
+    {
+      res.template corner<1,Dim>(BottomLeft).setZero();
+      res.coeffRef(Dim,Dim) = Scalar(1);
+    }
     return res;
   }
 }