From 6b89ee0095b9012302d0871d2300e60422a62316 Mon Sep 17 00:00:00 2001
From: Hauke Heibel <hauke.heibel@gmail.com>
Date: Thu, 29 Jul 2010 15:54:32 +0200
Subject: [PATCH] Transform is now per default Projective. Improved invert() in
 the Transform class. RotationBase offers matrix() to be conform with
 Transform's naming scheme. Added Translation::translation() to be conform
 with Transform's naming scheme.

---
 Eigen/src/Core/util/ForwardDeclarations.h | 2 +-
 Eigen/src/Geometry/RotationBase.h         | 5 +++++
 Eigen/src/Geometry/Transform.h            | 5 -----
 Eigen/src/Geometry/Translation.h          | 3 +++
 4 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/Eigen/src/Core/util/ForwardDeclarations.h b/Eigen/src/Core/util/ForwardDeclarations.h
index ed4b8e6d9..423aa110e 100644
--- a/Eigen/src/Core/util/ForwardDeclarations.h
+++ b/Eigen/src/Core/util/ForwardDeclarations.h
@@ -180,7 +180,7 @@ template<typename Derived> class QuaternionBase;
 template<typename Scalar> class Quaternion;
 template<typename Scalar> class Rotation2D;
 template<typename Scalar> class AngleAxis;
-template<typename Scalar,int Dim,int Mode=Affine> class Transform;
+template<typename Scalar,int Dim,int Mode=Projective> class Transform;
 template <typename _Scalar, int _AmbientDim> class ParametrizedLine;
 template <typename _Scalar, int _AmbientDim> class Hyperplane;
 template<typename Scalar,int Dim> class Translation;
diff --git a/Eigen/src/Geometry/RotationBase.h b/Eigen/src/Geometry/RotationBase.h
index 5b6d10649..4f0eeca20 100644
--- a/Eigen/src/Geometry/RotationBase.h
+++ b/Eigen/src/Geometry/RotationBase.h
@@ -55,6 +55,11 @@ class RotationBase
     /** \returns an equivalent rotation matrix */
     inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
 
+    /** \returns an equivalent rotation matrix 
+     * This function is added to be conform with the Transform class' naming scheme.
+     */
+    inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
+
     /** \returns the inverse rotation */
     inline Derived inverse() const { return derived().inverse(); }
 
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index 70d172c10..68fda1323 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -954,11 +954,6 @@ Transform<Scalar,Dim,Mode>::inverse(TransformTraits hint) const
     // translation and remaining parts
     res.matrix().template topRightCorner<Dim,1>()
       = - res.matrix().template topLeftCorner<Dim,Dim>() * translation();
-    if(int(Mode)!=int(AffineCompact))
-    {
-      res.matrix().template block<1,Dim>(Dim,0).setZero();
-      res.matrix().coeffRef(Dim,Dim) = 1;
-    }
   }
   return res;
 }
diff --git a/Eigen/src/Geometry/Translation.h b/Eigen/src/Geometry/Translation.h
index 8b8c9c25c..06db9956e 100644
--- a/Eigen/src/Geometry/Translation.h
+++ b/Eigen/src/Geometry/Translation.h
@@ -98,6 +98,9 @@ public:
   const VectorType& vector() const { return m_coeffs; }
   VectorType& vector() { return m_coeffs; }
 
+  const VectorType& translation() const { return m_coeffs; }
+  VectorType& translation() { return m_coeffs; }
+
   /** Concatenates two translation */
   inline Translation operator* (const Translation& other) const
   { return Translation(m_coeffs + other.m_coeffs); }