diff --git a/Eigen/src/Geometry/Rotation2D.h b/Eigen/src/Geometry/Rotation2D.h
index 776c36144..4feb3d4d2 100644
--- a/Eigen/src/Geometry/Rotation2D.h
+++ b/Eigen/src/Geometry/Rotation2D.h
@@ -71,11 +71,11 @@ public:
   inline Scalar& angle() { return m_angle; }
 
   /** \returns the inverse rotation */
-  inline Rotation2D inverse() const { return -m_angle; }
+  inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
 
   /** Concatenates two rotations */
   inline Rotation2D operator*(const Rotation2D& other) const
-  { return m_angle + other.m_angle; }
+  { return Rotation2D(m_angle + other.m_angle); }
 
   /** Concatenates two rotations */
   inline Rotation2D& operator*=(const Rotation2D& other)
@@ -93,7 +93,7 @@ public:
     * parameter \a t. It is in fact equivalent to a linear interpolation.
     */
   inline Rotation2D slerp(const Scalar& t, const Rotation2D& other) const
-  { return m_angle * (1-t) + other.angle() * t; }
+  { return Rotation2D(m_angle * (1-t) + other.angle() * t); }
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *
diff --git a/test/geo_transformations.cpp b/test/geo_transformations.cpp
index 1768d7b8a..e189217eb 100644
--- a/test/geo_transformations.cpp
+++ b/test/geo_transformations.cpp
@@ -98,7 +98,7 @@ template<typename Scalar, int Mode, int Options> void transformations()
   Matrix3 matrot1, m;
 
   Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
-  Scalar s0 = internal::random<Scalar>();
+  Scalar s0 = internal::random<Scalar>(), s1 = internal::random<Scalar>();
 
   VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0);
   VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(M_PI), v0.unitOrthogonal()) * v0);
@@ -394,10 +394,21 @@ template<typename Scalar, int Mode, int Options> void transformations()
   Rotation2D<double> r2d1d = r2d1.template cast<double>();
   VERIFY_IS_APPROX(r2d1d.template cast<Scalar>(),r2d1);
 
-  t20 = Translation2(v20) * (Rotation2D<Scalar>(s0) * Eigen::Scaling(s0));
-  t21 = Translation2(v20) * Rotation2D<Scalar>(s0) * Eigen::Scaling(s0);
+  Rotation2D<Scalar> R0(s0), R1(s1);
+  
+  t20 = Translation2(v20) * (R0 * Eigen::Scaling(s0));
+  t21 = Translation2(v20) * R0 * Eigen::Scaling(s0);
   VERIFY_IS_APPROX(t20,t21);
   
+  t20 = Translation2(v20) * (R0 * R0.inverse() * Eigen::Scaling(s0));
+  t21 = Translation2(v20) * Eigen::Scaling(s0);
+  VERIFY_IS_APPROX(t20,t21);
+  
+  VERIFY_IS_APPROX(s0, (R0.slerp(0, R1)).angle());
+  VERIFY_IS_APPROX(s1, (R0.slerp(1, R1)).angle());
+  VERIFY_IS_APPROX(s0, (R0.slerp(0.5, R0)).angle());
+  VERIFY_IS_APPROX(Scalar(0), (R0.slerp(0.5, R0.inverse())).angle());
+  
   // check basic features
   {
     Rotation2D<Scalar> r1;           // default ctor