From 6a36b5a6e037c092bc1a22365ffb8707129d9764 Mon Sep 17 00:00:00 2001
From: Benoit Jacob <jacob.benoit.1@gmail.com>
Date: Sun, 24 Aug 2008 20:13:32 +0000
Subject: [PATCH] add AngleAxis::operator*(const Vector3&)

---
 Eigen/src/Geometry/AngleAxis.h | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h
index 105af68f5..266529e7b 100644
--- a/Eigen/src/Geometry/AngleAxis.h
+++ b/Eigen/src/Geometry/AngleAxis.h
@@ -104,6 +104,11 @@ public:
   operator* (const Matrix3& a, const AngleAxis& b)
   { return a * b.toRotationMatrix(); }
 
+  /** Applies rotation to vector */
+  inline typename ProductReturnType<Matrix3,Vector3>::Type
+  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); }