From d3529e9c4051a2442d374f02717b2f877ccf9f19 Mon Sep 17 00:00:00 2001
From: Benoit Jacob <jacob.benoit.1@gmail.com>
Date: Sun, 24 Aug 2008 20:50:18 +0000
Subject: [PATCH] optimization: spare the 3x3 matrix product in
 fromPositionOrientationScale

---
 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 7d79619d5..16e552fdd 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -388,10 +388,10 @@ 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);
   translation() = position;
   m_matrix(Dim,Dim) = 1.;
   m_matrix.template block<1,Dim>(Dim,0).setZero();
-  linear() *= scale.asDiagonal();
   return *this;
 }