From b9b17ea5a534a692700f643ca5f7daf6e327f81c Mon Sep 17 00:00:00 2001
From: Gael Guennebaud <g.gael@free.fr>
Date: Thu, 6 Aug 2009 11:02:03 +0200
Subject: [PATCH] add the missing Affine Transform * set of column vectors
 products...

---
 Eigen/src/Geometry/Transform.h | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index da3187e3c..842a6bb4e 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -1034,6 +1034,17 @@ struct ei_transform_right_product_impl<Other,Mode, Dim,HDim, Dim,1>
   { return tr.linear() * other + tr.translation(); }
 };
 
+// Affine *  set of column vectors
+// FIXME use a ReturnByValue to remove the temporary
+template<typename Other, int Mode, int Dim, int HDim>
+struct ei_transform_right_product_impl<Other,Mode, Dim,HDim, Dim,Dynamic>
+{
+  typedef Transform<typename Other::Scalar,Dim,Mode> TransformType;
+  typedef Matrix<typename Other::Scalar,Dim,Dynamic> ResultType;
+  static ResultType run(const TransformType& tr, const Other& other)
+  { return (tr.linear() * other).colwise() + tr.translation(); }
+};
+
 // Affine *  homogeneous column vector
 // FIXME added for backward compatibility, but I'm not sure we should keep it
 template<typename Other, int Mode, int Dim, int HDim>