@lakutata/math 0.0.0-stage → 3.1.5

package/vendor/eigen/Eigen/src/Geometry/Transform.h

@@ -0,0 +1,1485 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TRANSFORM_H
+#define EIGEN_TRANSFORM_H
+
+// IWYU pragma: private
+#include "./InternalHeaderCheck.h"
+
+namespace Eigen {
+
+namespace internal {
+
+template <typename Transform>
+struct transform_traits {
+  enum {
+    Dim = Transform::Dim,
+    HDim = Transform::HDim,
+    Mode = Transform::Mode,
+    IsProjective = (int(Mode) == int(Projective))
+  };
+};
+
+template <typename TransformType, typename MatrixType,
+          int Case = transform_traits<TransformType>::IsProjective                                      ? 0
+                     : int(MatrixType::RowsAtCompileTime) == int(transform_traits<TransformType>::HDim) ? 1
+                                                                                                        : 2,
+          int RhsCols = MatrixType::ColsAtCompileTime>
+struct transform_right_product_impl;
+
+template <typename Other, int Mode, int Options, int Dim, int HDim, int OtherRows = Other::RowsAtCompileTime,
+          int OtherCols = Other::ColsAtCompileTime>
+struct transform_left_product_impl;
+
+template <typename Lhs, typename Rhs,
+          bool AnyProjective = transform_traits<Lhs>::IsProjective || transform_traits<Rhs>::IsProjective>
+struct transform_transform_product_impl;
+
+template <typename Other, int Mode, int Options, int Dim, int HDim, int OtherRows = Other::RowsAtCompileTime,
+          int OtherCols = Other::ColsAtCompileTime>
+struct transform_construct_from_matrix;
+
+template <typename TransformType>
+struct transform_take_affine_part;
+
+template <typename Scalar_, int Dim_, int Mode_, int Options_>
+struct traits<Transform<Scalar_, Dim_, Mode_, Options_> > {
+  typedef Scalar_ Scalar;
+  typedef Eigen::Index StorageIndex;
+  typedef Dense StorageKind;
+  enum {
+    Dim1 = Dim_ == Dynamic ? Dim_ : Dim_ + 1,
+    RowsAtCompileTime = Mode_ == Projective ? Dim1 : Dim_,
+    ColsAtCompileTime = Dim1,
+    MaxRowsAtCompileTime = RowsAtCompileTime,
+    MaxColsAtCompileTime = ColsAtCompileTime,
+    Flags = 0
+  };
+};
+
+template <int Mode>
+struct transform_make_affine;
+
+}  // end namespace internal
+
+/** \geometry_module \ingroup Geometry_Module
+ *
+ * \class Transform
+ *
+ * \brief Represents an homogeneous transformation in a N dimensional space
+ *
+ * \tparam Scalar_ the scalar type, i.e., the type of the coefficients
+ * \tparam Dim_ the dimension of the space
+ * \tparam Mode_ the type of the transformation. Can be:
+ *              - #Affine: the transformation is stored as a (Dim+1)^2 matrix,
+ *                         where the last row is assumed to be [0 ... 0 1].
+ *              - #AffineCompact: the transformation is stored as a (Dim)x(Dim+1) matrix.
+ *              - #Projective: the transformation is stored as a (Dim+1)^2 matrix
+ *                             without any assumption.
+ *              - #Isometry: same as #Affine with the additional assumption that
+ *                           the linear part represents a rotation. This assumption is exploited
+ *                           to speed up some functions such as inverse() and rotation().
+ * \tparam Options_ has the same meaning as in class Matrix. It allows to specify DontAlign and/or RowMajor.
+ *                  These Options are passed directly to the underlying matrix type.
+ *
+ * The homography is internally represented and stored by a matrix which
+ * is available through the matrix() method. To understand the behavior of
+ * this class you have to think a Transform object as its internal
+ * matrix representation. The chosen convention is right multiply:
+ *
+ * \code v' = T * v \endcode
+ *
+ * Therefore, an affine transformation matrix M is shaped like this:
+ *
+ * \f$ \left( \begin{array}{cc}
+ * linear & translation\\
+ * 0 ... 0 & 1
+ * \end{array} \right) \f$
+ *
+ * Note that for a projective transformation the last row can be anything,
+ * and then the interpretation of different parts might be slightly different.
+ *
+ * However, unlike a plain matrix, the Transform class provides many features
+ * simplifying both its assembly and usage. In particular, it can be composed
+ * with any other transformations (Transform,Translation,RotationBase,DiagonalMatrix)
+ * and can be directly used to transform implicit homogeneous vectors. All these
+ * operations are handled via the operator*. For the composition of transformations,
+ * its principle consists to first convert the right/left hand sides of the product
+ * to a compatible (Dim+1)^2 matrix and then perform a pure matrix product.
+ * Of course, internally, operator* tries to perform the minimal number of operations
+ * according to the nature of each terms. Likewise, when applying the transform
+ * to points, the latters are automatically promoted to homogeneous vectors
+ * before doing the matrix product. The conventions to homogeneous representations
+ * are performed as follow:
+ *
+ * \b Translation t (Dim)x(1):
+ * \f$ \left( \begin{array}{cc}
+ * I & t \\
+ * 0\,...\,0 & 1
+ * \end{array} \right) \f$
+ *
+ * \b Rotation R (Dim)x(Dim):
+ * \f$ \left( \begin{array}{cc}
+ * R & 0\\
+ * 0\,...\,0 & 1
+ * \end{array} \right) \f$
+ *<!--
+ * \b Linear \b Matrix L (Dim)x(Dim):
+ * \f$ \left( \begin{array}{cc}
+ * L & 0\\
+ * 0\,...\,0 & 1
+ * \end{array} \right) \f$
+ *
+ * \b Affine \b Matrix A (Dim)x(Dim+1):
+ * \f$ \left( \begin{array}{c}
+ * A\\
+ * 0\,...\,0\,1
+ * \end{array} \right) \f$
+ *-->
+ * \b Scaling \b DiagonalMatrix S (Dim)x(Dim):
+ * \f$ \left( \begin{array}{cc}
+ * S & 0\\
+ * 0\,...\,0 & 1
+ * \end{array} \right) \f$
+ *
+ * \b Column \b point v (Dim)x(1):
+ * \f$ \left( \begin{array}{c}
+ * v\\
+ * 1
+ * \end{array} \right) \f$
+ *
+ * \b Set \b of \b column \b points V1...Vn (Dim)x(n):
+ * \f$ \left( \begin{array}{ccc}
+ * v_1 & ... & v_n\\
+ * 1 & ... & 1
+ * \end{array} \right) \f$
+ *
+ * The concatenation of a Transform object with any kind of other transformation
+ * always returns a Transform object.
+ *
+ * A little exception to the "as pure matrix product" rule is the case of the
+ * transformation of non homogeneous vectors by an affine transformation. In
+ * that case the last matrix row can be ignored, and the product returns non
+ * homogeneous vectors.
+ *
+ * Since, for instance, a Dim x Dim matrix is interpreted as a linear transformation,
+ * it is not possible to directly transform Dim vectors stored in a Dim x Dim matrix.
+ * The solution is either to use a Dim x Dynamic matrix or explicitly request a
+ * vector transformation by making the vector homogeneous:
+ * \code
+ * m' = T * m.colwise().homogeneous();
+ * \endcode
+ * Note that there is zero overhead.
+ *
+ * Conversion methods from/to Qt's QMatrix and QTransform are available if the
+ * preprocessor token EIGEN_QT_SUPPORT is defined.
+ *
+ * This class can be extended with the help of the plugin mechanism described on the page
+ * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_TRANSFORM_PLUGIN.
+ *
+ * \sa class Matrix, class Quaternion
+ */
+template <typename Scalar_, int Dim_, int Mode_, int Options_>
+class Transform {
+ public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_,
+                                                             Dim_ == Dynamic ? Dynamic : (Dim_ + 1) * (Dim_ + 1))
+  enum {
+    Mode = Mode_,
+    Options = Options_,
+    Dim = Dim_,       ///< space dimension in which the transformation holds
+    HDim = Dim_ + 1,  ///< size of a respective homogeneous vector
+    Rows = int(Mode) == (AffineCompact) ? Dim : HDim
+  };
+  /** the scalar type of the coefficients */
+  typedef Scalar_ Scalar;
+  typedef Eigen::Index StorageIndex;
+  typedef Eigen::Index Index;  ///< \deprecated since Eigen 3.3
+  /** type of the matrix used to represent the transformation */
+  typedef typename internal::make_proper_matrix_type<Scalar, Rows, HDim, Options>::type MatrixType;
+  /** constified MatrixType */
+  typedef const MatrixType ConstMatrixType;
+  /** type of the matrix used to represent the linear part of the transformation */
+  typedef Matrix<Scalar, Dim, Dim, Options> LinearMatrixType;
+  /** type of read/write reference to the linear part of the transformation */
+  typedef Block<MatrixType, Dim, Dim, int(Mode) == (AffineCompact) && (int(Options) & RowMajor) == 0> LinearPart;
+  /** type of read reference to the linear part of the transformation */
+  typedef const Block<ConstMatrixType, Dim, Dim, int(Mode) == (AffineCompact) && (int(Options) & RowMajor) == 0>
+      ConstLinearPart;
+  /** type of read/write reference to the affine part of the transformation */
+  typedef std::conditional_t<int(Mode) == int(AffineCompact), MatrixType&, Block<MatrixType, Dim, HDim> > AffinePart;
+  /** type of read reference to the affine part of the transformation */
+  typedef std::conditional_t<int(Mode) == int(AffineCompact), const MatrixType&,
+                             const Block<const MatrixType, Dim, HDim> >
+      ConstAffinePart;
+  /** type of a vector */
+  typedef Matrix<Scalar, Dim, 1> VectorType;
+  /** type of a read/write reference to the translation part of the rotation */
+  typedef Block<MatrixType, Dim, 1, !(internal::traits<MatrixType>::Flags & RowMajorBit)> TranslationPart;
+  /** type of a read reference to the translation part of the rotation */
+  typedef const Block<ConstMatrixType, Dim, 1, !(internal::traits<MatrixType>::Flags & RowMajorBit)>
+      ConstTranslationPart;
+  /** corresponding translation type */
+  typedef Translation<Scalar, Dim> TranslationType;
+
+  // this intermediate enum is needed to avoid an ICE with gcc 3.4 and 4.0
+  enum { TransformTimeDiagonalMode = ((Mode == int(Isometry)) ? Affine : int(Mode)) };
+  /** The return type of the product between a diagonal matrix and a transform */
+  typedef Transform<Scalar, Dim, TransformTimeDiagonalMode> TransformTimeDiagonalReturnType;
+
+ protected:
+  MatrixType m_matrix;
+
+ public:
+  /** Default constructor without initialization of the meaningful coefficients.
+   * If Mode==Affine or Mode==Isometry, then the last row is set to [0 ... 0 1] */
+  EIGEN_DEVICE_FUNC inline Transform() {
+    check_template_params();
+    internal::transform_make_affine<(int(Mode) == Affine || int(Mode) == Isometry) ? Affine : AffineCompact>::run(
+        m_matrix);
+  }
+
+  EIGEN_DEVICE_FUNC inline explicit Transform(const TranslationType& t) {
+    check_template_params();
+    *this = t;
+  }
+  EIGEN_DEVICE_FUNC inline explicit Transform(const UniformScaling<Scalar>& s) {
+    check_template_params();
+    *this = s;
+  }
+  template <typename Derived>
+  EIGEN_DEVICE_FUNC inline explicit Transform(const RotationBase<Derived, Dim>& r) {
+    check_template_params();
+    *this = r;
+  }
+
+  typedef internal::transform_take_affine_part<Transform> take_affine_part;
+
+  /** Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. */
+  template <typename OtherDerived>
+  EIGEN_DEVICE_FUNC inline explicit Transform(const EigenBase<OtherDerived>& other) {
+    EIGEN_STATIC_ASSERT(
+        (internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
+        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);
+
+    check_template_params();
+    internal::transform_construct_from_matrix<OtherDerived, Mode, Options, Dim, HDim>::run(this, other.derived());
+  }
+
+  /** Set \c *this from a Dim^2 or (Dim+1)^2 matrix. */
+  template <typename OtherDerived>
+  EIGEN_DEVICE_FUNC inline Transform& operator=(const EigenBase<OtherDerived>& other) {
+    EIGEN_STATIC_ASSERT(
+        (internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
+        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);
+
+    internal::transform_construct_from_matrix<OtherDerived, Mode, Options, Dim, HDim>::run(this, other.derived());
+    return *this;
+  }
+
+  template <int OtherOptions>
+  EIGEN_DEVICE_FUNC inline Transform(const Transform<Scalar, Dim, Mode, OtherOptions>& other) {
+    check_template_params();
+    // only the options change, we can directly copy the matrices
+    m_matrix = other.matrix();
+  }
+
+  template <int OtherMode, int OtherOptions>
+  EIGEN_DEVICE_FUNC inline Transform(const Transform<Scalar, Dim, OtherMode, OtherOptions>& other) {
+    check_template_params();
+    // prevent conversions as:
+    // Affine | AffineCompact | Isometry = Projective
+    EIGEN_STATIC_ASSERT(internal::check_implication(OtherMode == int(Projective), Mode == int(Projective)),
+                        YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
+
+    // prevent conversions as:
+    // Isometry = Affine | AffineCompact
+    EIGEN_STATIC_ASSERT(
+        internal::check_implication(OtherMode == int(Affine) || OtherMode == int(AffineCompact), Mode != int(Isometry)),
+        YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
+
+    enum {
+      ModeIsAffineCompact = Mode == int(AffineCompact),
+      OtherModeIsAffineCompact = OtherMode == int(AffineCompact)
+    };
+
+    if (EIGEN_CONST_CONDITIONAL(ModeIsAffineCompact == OtherModeIsAffineCompact)) {
+      // We need the block expression because the code is compiled for all
+      // combinations of transformations and will trigger a compile time error
+      // if one tries to assign the matrices directly
+      m_matrix.template block<Dim, Dim + 1>(0, 0) = other.matrix().template block<Dim, Dim + 1>(0, 0);
+      makeAffine();
+    } else if (EIGEN_CONST_CONDITIONAL(OtherModeIsAffineCompact)) {
+      typedef typename Transform<Scalar, Dim, OtherMode, OtherOptions>::MatrixType OtherMatrixType;
+      internal::transform_construct_from_matrix<OtherMatrixType, Mode, Options, Dim, HDim>::run(this, other.matrix());
+    } else {
+      // here we know that Mode == AffineCompact and OtherMode != AffineCompact.
+      // if OtherMode were Projective, the static assert above would already have caught it.
+      // So the only possibility is that OtherMode == Affine
+      linear() = other.linear();
+      translation() = other.translation();
+    }
+  }
+
+  template <typename OtherDerived>
+  EIGEN_DEVICE_FUNC Transform(const ReturnByValue<OtherDerived>& other) {
+    check_template_params();
+    other.evalTo(*this);
+  }
+
+  template <typename OtherDerived>
+  EIGEN_DEVICE_FUNC Transform& operator=(const ReturnByValue<OtherDerived>& other) {
+    other.evalTo(*this);
+    return *this;
+  }
+
+#ifdef EIGEN_QT_SUPPORT
+#if (QT_VERSION < QT_VERSION_CHECK(6, 0, 0))
+  inline Transform(const QMatrix& other);
+  inline Transform& operator=(const QMatrix& other);
+  inline QMatrix toQMatrix(void) const;
+#endif
+  inline Transform(const QTransform& other);
+  inline Transform& operator=(const QTransform& other);
+  inline QTransform toQTransform(void) const;
+#endif
+
+  EIGEN_DEVICE_FUNC constexpr Index rows() const noexcept {
+    return int(Mode) == int(Projective) ? m_matrix.cols() : (m_matrix.cols() - 1);
+  }
+  EIGEN_DEVICE_FUNC constexpr Index cols() const noexcept { return m_matrix.cols(); }
+
+  /** shortcut for m_matrix(row,col);
+   * \sa MatrixBase::operator(Index,Index) const */
+  EIGEN_DEVICE_FUNC inline Scalar operator()(Index row, Index col) const { return m_matrix(row, col); }
+  /** shortcut for m_matrix(row,col);
+   * \sa MatrixBase::operator(Index,Index) */
+  EIGEN_DEVICE_FUNC inline Scalar& operator()(Index row, Index col) { return m_matrix(row, col); }
+
+  /** \returns a read-only expression of the transformation matrix */
+  EIGEN_DEVICE_FUNC inline const MatrixType& matrix() const { return m_matrix; }
+  /** \returns a writable expression of the transformation matrix */
+  EIGEN_DEVICE_FUNC inline MatrixType& matrix() { return m_matrix; }
+
+  /** \returns a read-only expression of the linear part of the transformation */
+  EIGEN_DEVICE_FUNC inline ConstLinearPart linear() const { return ConstLinearPart(m_matrix, 0, 0); }
+  /** \returns a writable expression of the linear part of the transformation */
+  EIGEN_DEVICE_FUNC inline LinearPart linear() { return LinearPart(m_matrix, 0, 0); }
+
+  /** \returns a read-only expression of the Dim x HDim affine part of the transformation */
+  EIGEN_DEVICE_FUNC inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); }
+  /** \returns a writable expression of the Dim x HDim affine part of the transformation */
+  EIGEN_DEVICE_FUNC inline AffinePart affine() { return take_affine_part::run(m_matrix); }
+
+  /** \returns a read-only expression of the translation vector of the transformation */
+  EIGEN_DEVICE_FUNC inline ConstTranslationPart translation() const { return ConstTranslationPart(m_matrix, 0, Dim); }
+  /** \returns a writable expression of the translation vector of the transformation */
+  EIGEN_DEVICE_FUNC inline TranslationPart translation() { return TranslationPart(m_matrix, 0, Dim); }
+
+  /** \returns an expression of the product between the transform \c *this and a matrix expression \a other.
+   *
+   * The right-hand-side \a other can be either:
+   * \li an homogeneous vector of size Dim+1,
+   * \li a set of homogeneous vectors of size Dim+1 x N,
+   * \li a transformation matrix of size Dim+1 x Dim+1.
+   *
+   * Moreover, if \c *this represents an affine transformation (i.e., Mode!=Projective), then \a other can also be:
+   * \li a point of size Dim (computes: \code this->linear() * other + this->translation()\endcode),
+   * \li a set of N points as a Dim x N matrix (computes: \code (this->linear() * other).colwise() +
+   * this->translation()\endcode),
+   *
+   * In all cases, the return type is a matrix or vector of same sizes as the right-hand-side \a other.
+   *
+   * If you want to interpret \a other as a linear or affine transformation, then first convert it to a Transform<>
+   * type, or do your own cooking.
+   *
+   * Finally, if you want to apply Affine transformations to vectors, then explicitly apply the linear part only:
+   * \code
+   * Affine3f A;
+   * Vector3f v1, v2;
+   * v2 = A.linear() * v1;
+   * \endcode
+   *
+   */
+  // note: this function is defined here because some compilers cannot find the respective declaration
+  template <typename OtherDerived>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename internal::transform_right_product_impl<Transform,
+                                                                                              OtherDerived>::ResultType
+  operator*(const EigenBase<OtherDerived>& other) const {
+    return internal::transform_right_product_impl<Transform, OtherDerived>::run(*this, other.derived());
+  }
+
+  /** \returns the product expression of a transformation matrix \a a times a transform \a b
+   *
+   * The left hand side \a other can be either:
+   * \li a linear transformation matrix of size Dim x Dim,
+   * \li an affine transformation matrix of size Dim x Dim+1,
+   * \li a general transformation matrix of size Dim+1 x Dim+1.
+   */
+  template <typename OtherDerived>
+  friend EIGEN_DEVICE_FUNC inline const typename internal::transform_left_product_impl<OtherDerived, Mode, Options,
+                                                                                       Dim_, Dim_ + 1>::ResultType
+  operator*(const EigenBase<OtherDerived>& a, const Transform& b) {
+    return internal::transform_left_product_impl<OtherDerived, Mode, Options, Dim, HDim>::run(a.derived(), b);
+  }
+
+  /** \returns The product expression of a transform \a a times a diagonal matrix \a b
+   *
+   * The rhs diagonal matrix is interpreted as an affine scaling transformation. The
+   * product results in a Transform of the same type (mode) as the lhs only if the lhs
+   * mode is no isometry. In that case, the returned transform is an affinity.
+   */
+  template <typename DiagonalDerived>
+  EIGEN_DEVICE_FUNC inline const TransformTimeDiagonalReturnType operator*(
+      const DiagonalBase<DiagonalDerived>& b) const {
+    TransformTimeDiagonalReturnType res(*this);
+    res.linearExt() *= b;
+    return res;
+  }
+
+  /** \returns The product expression of a diagonal matrix \a a times a transform \a b
+   *
+   * The lhs diagonal matrix is interpreted as an affine scaling transformation. The
+   * product results in a Transform of the same type (mode) as the lhs only if the lhs
+   * mode is no isometry. In that case, the returned transform is an affinity.
+   */
+  template <typename DiagonalDerived>
+  EIGEN_DEVICE_FUNC friend inline TransformTimeDiagonalReturnType operator*(const DiagonalBase<DiagonalDerived>& a,
+                                                                            const Transform& b) {
+    TransformTimeDiagonalReturnType res;
+    res.linear().noalias() = a * b.linear();
+    res.translation().noalias() = a * b.translation();
+    if (EIGEN_CONST_CONDITIONAL(Mode != int(AffineCompact))) res.matrix().row(Dim) = b.matrix().row(Dim);
+    return res;
+  }
+
+  template <typename OtherDerived>
+  EIGEN_DEVICE_FUNC inline Transform& operator*=(const EigenBase<OtherDerived>& other) {
+    return *this = *this * other;
+  }
+
+  /** Concatenates two transformations */
+  EIGEN_DEVICE_FUNC inline const Transform operator*(const Transform& other) const {
+    return internal::transform_transform_product_impl<Transform, Transform>::run(*this, other);
+  }
+
+#if EIGEN_COMP_ICC
+ private:
+  // this intermediate structure permits to workaround a bug in ICC 11:
+  //   error: template instantiation resulted in unexpected function type of "Eigen::Transform<double, 3, 32, 0>
+  //             (const Eigen::Transform<double, 3, 2, 0> &) const"
+  //  (the meaning of a name may have changed since the template declaration -- the type of the template is:
+  // "Eigen::internal::transform_transform_product_impl<Eigen::Transform<double, 3, 32, 0>,
+  //     Eigen::Transform<double, 3, Mode, Options>, <expression>>::ResultType (const Eigen::Transform<double, 3, Mode,
+  //     Options> &) const")
+  //
+  template <int OtherMode, int OtherOptions>
+  struct icc_11_workaround {
+    typedef internal::transform_transform_product_impl<Transform, Transform<Scalar, Dim, OtherMode, OtherOptions> >
+        ProductType;
+    typedef typename ProductType::ResultType ResultType;
+  };
+
+ public:
+  /** Concatenates two different transformations */
+  template <int OtherMode, int OtherOptions>
+  inline typename icc_11_workaround<OtherMode, OtherOptions>::ResultType operator*(
+      const Transform<Scalar, Dim, OtherMode, OtherOptions>& other) const {
+    typedef typename icc_11_workaround<OtherMode, OtherOptions>::ProductType ProductType;
+    return ProductType::run(*this, other);
+  }
+#else
+  /** Concatenates two different transformations */
+  template <int OtherMode, int OtherOptions>
+  EIGEN_DEVICE_FUNC inline
+      typename internal::transform_transform_product_impl<Transform,
+                                                          Transform<Scalar, Dim, OtherMode, OtherOptions> >::ResultType
+      operator*(const Transform<Scalar, Dim, OtherMode, OtherOptions>& other) const {
+    return internal::transform_transform_product_impl<Transform, Transform<Scalar, Dim, OtherMode, OtherOptions> >::run(
+        *this, other);
+  }
+#endif
+
+  /** \sa MatrixBase::setIdentity() */
+  EIGEN_DEVICE_FUNC void setIdentity() { m_matrix.setIdentity(); }
+
+  /**
+   * \brief Returns an identity transformation.
+   * \todo In the future this function should be returning a Transform expression.
+   */
+  EIGEN_DEVICE_FUNC static const Transform Identity() { return Transform(MatrixType::Identity()); }
+
+  template <typename OtherDerived>
+  EIGEN_DEVICE_FUNC inline Transform& scale(const MatrixBase<OtherDerived>& other);
+
+  template <typename OtherDerived>
+  EIGEN_DEVICE_FUNC inline Transform& prescale(const MatrixBase<OtherDerived>& other);
+
+  EIGEN_DEVICE_FUNC inline Transform& scale(const Scalar& s);
+  EIGEN_DEVICE_FUNC inline Transform& prescale(const Scalar& s);
+
+  template <typename OtherDerived>
+  EIGEN_DEVICE_FUNC inline Transform& translate(const MatrixBase<OtherDerived>& other);
+
+  template <typename OtherDerived>
+  EIGEN_DEVICE_FUNC inline Transform& pretranslate(const MatrixBase<OtherDerived>& other);
+
+  template <typename RotationType>
+  EIGEN_DEVICE_FUNC inline Transform& rotate(const RotationType& rotation);
+
+  template <typename RotationType>
+  EIGEN_DEVICE_FUNC inline Transform& prerotate(const RotationType& rotation);
+
+  EIGEN_DEVICE_FUNC Transform& shear(const Scalar& sx, const Scalar& sy);
+  EIGEN_DEVICE_FUNC Transform& preshear(const Scalar& sx, const Scalar& sy);
+
+  EIGEN_DEVICE_FUNC inline Transform& operator=(const TranslationType& t);
+
+  EIGEN_DEVICE_FUNC inline Transform& operator*=(const TranslationType& t) { return translate(t.vector()); }
+
+  EIGEN_DEVICE_FUNC inline Transform operator*(const TranslationType& t) const;
+
+  EIGEN_DEVICE_FUNC inline Transform& operator=(const UniformScaling<Scalar>& t);
+
+  EIGEN_DEVICE_FUNC inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); }
+
+  EIGEN_DEVICE_FUNC inline TransformTimeDiagonalReturnType operator*(const UniformScaling<Scalar>& s) const {
+    TransformTimeDiagonalReturnType res = *this;
+    res.scale(s.factor());
+    return res;
+  }
+
+  EIGEN_DEVICE_FUNC inline Transform& operator*=(const DiagonalMatrix<Scalar, Dim>& s) {
+    linearExt() *= s;
+    return *this;
+  }
+
+  template <typename Derived>
+  EIGEN_DEVICE_FUNC inline Transform& operator=(const RotationBase<Derived, Dim>& r);
+  template <typename Derived>
+  EIGEN_DEVICE_FUNC inline Transform& operator*=(const RotationBase<Derived, Dim>& r) {
+    return rotate(r.toRotationMatrix());
+  }
+  template <typename Derived>
+  EIGEN_DEVICE_FUNC inline Transform operator*(const RotationBase<Derived, Dim>& r) const;
+
+  typedef std::conditional_t<int(Mode) == Isometry, ConstLinearPart, const LinearMatrixType> RotationReturnType;
+  EIGEN_DEVICE_FUNC RotationReturnType rotation() const;
+
+  template <typename RotationMatrixType, typename ScalingMatrixType>
+  EIGEN_DEVICE_FUNC void computeRotationScaling(RotationMatrixType* rotation, ScalingMatrixType* scaling) const;
+  template <typename ScalingMatrixType, typename RotationMatrixType>
+  EIGEN_DEVICE_FUNC void computeScalingRotation(ScalingMatrixType* scaling, RotationMatrixType* rotation) const;
+
+  template <typename PositionDerived, typename OrientationType, typename ScaleDerived>
+  EIGEN_DEVICE_FUNC Transform& fromPositionOrientationScale(const MatrixBase<PositionDerived>& position,
+                                                            const OrientationType& orientation,
+                                                            const MatrixBase<ScaleDerived>& scale);
+
+  EIGEN_DEVICE_FUNC inline Transform inverse(TransformTraits traits = (TransformTraits)Mode) const;
+
+  /** \returns a const pointer to the column major internal matrix */
+  EIGEN_DEVICE_FUNC constexpr const Scalar* data() const { return m_matrix.data(); }
+  /** \returns a non-const pointer to the column major internal matrix */
+  EIGEN_DEVICE_FUNC constexpr Scalar* data() { return m_matrix.data(); }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+   *
+   * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+   * then this function smartly returns a const reference to \c *this.
+   */
+  template <typename NewScalarType>
+  EIGEN_DEVICE_FUNC inline
+      typename internal::cast_return_type<Transform, Transform<NewScalarType, Dim, Mode, Options> >::type
+      cast() const {
+    return typename internal::cast_return_type<Transform, Transform<NewScalarType, Dim, Mode, Options> >::type(*this);
+  }
+
+  /** Copy constructor with scalar type conversion */
+  template <typename OtherScalarType>
+  EIGEN_DEVICE_FUNC inline explicit Transform(const Transform<OtherScalarType, Dim, Mode, Options>& other) {
+    check_template_params();
+    m_matrix = other.matrix().template cast<Scalar>();
+  }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+   * determined by \a prec.
+   *
+   * \sa MatrixBase::isApprox() */
+  EIGEN_DEVICE_FUNC bool isApprox(const Transform& other, const typename NumTraits<Scalar>::Real& prec =
+                                                              NumTraits<Scalar>::dummy_precision()) const {
+    return m_matrix.isApprox(other.m_matrix, prec);
+  }
+
+  /** Sets the last row to [0 ... 0 1]
+   */
+  EIGEN_DEVICE_FUNC void makeAffine() { internal::transform_make_affine<int(Mode)>::run(m_matrix); }
+
+  /** \internal
+   * \returns the Dim x Dim linear part if the transformation is affine,
+   *          and the HDim x Dim part for projective transformations.
+   */
+  EIGEN_DEVICE_FUNC inline Block<MatrixType, int(Mode) == int(Projective) ? HDim : Dim, Dim> linearExt() {
+    return m_matrix.template block < int(Mode) == int(Projective) ? HDim : Dim, Dim > (0, 0);
+  }
+  /** \internal
+   * \returns the Dim x Dim linear part if the transformation is affine,
+   *          and the HDim x Dim part for projective transformations.
+   */
+  EIGEN_DEVICE_FUNC inline const Block<MatrixType, int(Mode) == int(Projective) ? HDim : Dim, Dim> linearExt() const {
+    return m_matrix.template block < int(Mode) == int(Projective) ? HDim : Dim, Dim > (0, 0);
+  }
+
+  /** \internal
+   * \returns the translation part if the transformation is affine,
+   *          and the last column for projective transformations.
+   */
+  EIGEN_DEVICE_FUNC inline Block<MatrixType, int(Mode) == int(Projective) ? HDim : Dim, 1> translationExt() {
+    return m_matrix.template block < int(Mode) == int(Projective) ? HDim : Dim, 1 > (0, Dim);
+  }
+  /** \internal
+   * \returns the translation part if the transformation is affine,
+   *          and the last column for projective transformations.
+   */
+  EIGEN_DEVICE_FUNC inline const Block<MatrixType, int(Mode) == int(Projective) ? HDim : Dim, 1> translationExt()
+      const {
+    return m_matrix.template block < int(Mode) == int(Projective) ? HDim : Dim, 1 > (0, Dim);
+  }
+
+#ifdef EIGEN_TRANSFORM_PLUGIN
+#include EIGEN_TRANSFORM_PLUGIN
+#endif
+
+ protected:
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void check_template_params() {
+    EIGEN_STATIC_ASSERT((Options & (DontAlign | RowMajor)) == Options, INVALID_MATRIX_TEMPLATE_PARAMETERS)
+  }
+#endif
+};
+
+/** \ingroup Geometry_Module */
+typedef Transform<float, 2, Isometry> Isometry2f;
+/** \ingroup Geometry_Module */
+typedef Transform<float, 3, Isometry> Isometry3f;
+/** \ingroup Geometry_Module */
+typedef Transform<double, 2, Isometry> Isometry2d;
+/** \ingroup Geometry_Module */
+typedef Transform<double, 3, Isometry> Isometry3d;
+
+/** \ingroup Geometry_Module */
+typedef Transform<float, 2, Affine> Affine2f;
+/** \ingroup Geometry_Module */
+typedef Transform<float, 3, Affine> Affine3f;
+/** \ingroup Geometry_Module */
+typedef Transform<double, 2, Affine> Affine2d;
+/** \ingroup Geometry_Module */
+typedef Transform<double, 3, Affine> Affine3d;
+
+/** \ingroup Geometry_Module */
+typedef Transform<float, 2, AffineCompact> AffineCompact2f;
+/** \ingroup Geometry_Module */
+typedef Transform<float, 3, AffineCompact> AffineCompact3f;
+/** \ingroup Geometry_Module */
+typedef Transform<double, 2, AffineCompact> AffineCompact2d;
+/** \ingroup Geometry_Module */
+typedef Transform<double, 3, AffineCompact> AffineCompact3d;
+
+/** \ingroup Geometry_Module */
+typedef Transform<float, 2, Projective> Projective2f;
+/** \ingroup Geometry_Module */
+typedef Transform<float, 3, Projective> Projective3f;
+/** \ingroup Geometry_Module */
+typedef Transform<double, 2, Projective> Projective2d;
+/** \ingroup Geometry_Module */
+typedef Transform<double, 3, Projective> Projective3d;
+
+/**************************
+*** Optional QT support ***
+**************************/
+
+#ifdef EIGEN_QT_SUPPORT
+
+#if (QT_VERSION < QT_VERSION_CHECK(6, 0, 0))
+/** Initializes \c *this from a QMatrix assuming the dimension is 2.
+ *
+ * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+Transform<Scalar, Dim, Mode, Options>::Transform(const QMatrix& other) {
+  check_template_params();
+  *this = other;
+}
+
+/** Set \c *this from a QMatrix assuming the dimension is 2.
+ *
+ * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim, Mode, Options>::operator=(const QMatrix& other) {
+  EIGEN_STATIC_ASSERT(Dim == 2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  if (EIGEN_CONST_CONDITIONAL(Mode == int(AffineCompact)))
+    m_matrix << other.m11(), other.m21(), other.dx(), other.m12(), other.m22(), other.dy();
+  else
+    m_matrix << other.m11(), other.m21(), other.dx(), other.m12(), other.m22(), other.dy(), 0, 0, 1;
+  return *this;
+}
+
+/** \returns a QMatrix from \c *this assuming the dimension is 2.
+ *
+ * \warning this conversion might loss data if \c *this is not affine
+ *
+ * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+QMatrix Transform<Scalar, Dim, Mode, Options>::toQMatrix(void) const {
+  check_template_params();
+  EIGEN_STATIC_ASSERT(Dim == 2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  return QMatrix(m_matrix.coeff(0, 0), m_matrix.coeff(1, 0), m_matrix.coeff(0, 1), m_matrix.coeff(1, 1),
+                 m_matrix.coeff(0, 2), m_matrix.coeff(1, 2));
+}
+#endif
+
+/** Initializes \c *this from a QTransform assuming the dimension is 2.
+ *
+ * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+Transform<Scalar, Dim, Mode, Options>::Transform(const QTransform& other) {
+  check_template_params();
+  *this = other;
+}
+
+/** Set \c *this from a QTransform assuming the dimension is 2.
+ *
+ * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim, Mode, Options>::operator=(const QTransform& other) {
+  check_template_params();
+  EIGEN_STATIC_ASSERT(Dim == 2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  if (EIGEN_CONST_CONDITIONAL(Mode == int(AffineCompact)))
+    m_matrix << other.m11(), other.m21(), other.dx(), other.m12(), other.m22(), other.dy();
+  else
+    m_matrix << other.m11(), other.m21(), other.dx(), other.m12(), other.m22(), other.dy(), other.m13(), other.m23(),
+        other.m33();
+  return *this;
+}
+
+/** \returns a QTransform from \c *this assuming the dimension is 2.
+ *
+ * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+QTransform Transform<Scalar, Dim, Mode, Options>::toQTransform(void) const {
+  EIGEN_STATIC_ASSERT(Dim == 2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  if (EIGEN_CONST_CONDITIONAL(Mode == int(AffineCompact)))
+    return QTransform(m_matrix.coeff(0, 0), m_matrix.coeff(1, 0), m_matrix.coeff(0, 1), m_matrix.coeff(1, 1),
+                      m_matrix.coeff(0, 2), m_matrix.coeff(1, 2));
+  else
+    return QTransform(m_matrix.coeff(0, 0), m_matrix.coeff(1, 0), m_matrix.coeff(2, 0), m_matrix.coeff(0, 1),
+                      m_matrix.coeff(1, 1), m_matrix.coeff(2, 1), m_matrix.coeff(0, 2), m_matrix.coeff(1, 2),
+                      m_matrix.coeff(2, 2));
+}
+#endif
+
+/*********************
+*** Procedural API ***
+*********************/
+
+/** Applies on the right the non uniform scale transformation represented
+ * by the vector \a other to \c *this and returns a reference to \c *this.
+ * \sa prescale()
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+template <typename OtherDerived>
+EIGEN_DEVICE_FUNC Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim, Mode, Options>::scale(
+    const MatrixBase<OtherDerived>& other) {
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived, int(Dim))
+  EIGEN_STATIC_ASSERT(Mode != int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  linearExt().noalias() = (linearExt() * other.asDiagonal());
+  return *this;
+}
+
+/** Applies on the right a uniform scale of a factor \a c to \c *this
+ * and returns a reference to \c *this.
+ * \sa prescale(Scalar)
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+EIGEN_DEVICE_FUNC inline Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim, Mode, Options>::scale(
+    const Scalar& s) {
+  EIGEN_STATIC_ASSERT(Mode != int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  linearExt() *= s;
+  return *this;
+}
+
+/** Applies on the left the non uniform scale transformation represented
+ * by the vector \a other to \c *this and returns a reference to \c *this.
+ * \sa scale()
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+template <typename OtherDerived>
+EIGEN_DEVICE_FUNC Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim, Mode, Options>::prescale(
+    const MatrixBase<OtherDerived>& other) {
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived, int(Dim))
+  EIGEN_STATIC_ASSERT(Mode != int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  affine().noalias() = (other.asDiagonal() * affine());
+  return *this;
+}
+
+/** Applies on the left a uniform scale of a factor \a c to \c *this
+ * and returns a reference to \c *this.
+ * \sa scale(Scalar)
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+EIGEN_DEVICE_FUNC inline Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim, Mode, Options>::prescale(
+    const Scalar& s) {
+  EIGEN_STATIC_ASSERT(Mode != int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  m_matrix.template topRows<Dim>() *= s;
+  return *this;
+}
+
+/** Applies on the right the translation matrix represented by the vector \a other
+ * to \c *this and returns a reference to \c *this.
+ * \sa pretranslate()
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+template <typename OtherDerived>
+EIGEN_DEVICE_FUNC Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim, Mode, Options>::translate(
+    const MatrixBase<OtherDerived>& other) {
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived, int(Dim))
+  translationExt() += linearExt() * other;
+  return *this;
+}
+
+/** Applies on the left the translation matrix represented by the vector \a other
+ * to \c *this and returns a reference to \c *this.
+ * \sa translate()
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+template <typename OtherDerived>
+EIGEN_DEVICE_FUNC Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim, Mode, Options>::pretranslate(
+    const MatrixBase<OtherDerived>& other) {
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived, int(Dim))
+  if (EIGEN_CONST_CONDITIONAL(int(Mode) == int(Projective)))
+    affine() += other * m_matrix.row(Dim);
+  else
+    translation() += other;
+  return *this;
+}
+
+/** Applies on the right the rotation represented by the rotation \a rotation
+ * to \c *this and returns a reference to \c *this.
+ *
+ * The template parameter \a RotationType is the type of the rotation which
+ * must be known by internal::toRotationMatrix<>.
+ *
+ * Natively supported types includes:
+ *   - any scalar (2D),
+ *   - a Dim x Dim matrix expression,
+ *   - a Quaternion (3D),
+ *   - a AngleAxis (3D)
+ *
+ * This mechanism is easily extendable to support user types such as Euler angles,
+ * or a pair of Quaternion for 4D rotations.
+ *
+ * \sa rotate(Scalar), class Quaternion, class AngleAxis, prerotate(RotationType)
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+template <typename RotationType>
+EIGEN_DEVICE_FUNC Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim, Mode, Options>::rotate(
+    const RotationType& rotation) {
+  linearExt() *= internal::toRotationMatrix<Scalar, Dim>(rotation);
+  return *this;
+}
+
+/** Applies on the left the rotation represented by the rotation \a rotation
+ * to \c *this and returns a reference to \c *this.
+ *
+ * See rotate() for further details.
+ *
+ * \sa rotate()
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+template <typename RotationType>
+EIGEN_DEVICE_FUNC Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim, Mode, Options>::prerotate(
+    const RotationType& rotation) {
+  m_matrix.template block<Dim, HDim>(0, 0) =
+      internal::toRotationMatrix<Scalar, Dim>(rotation) * m_matrix.template block<Dim, HDim>(0, 0);
+  return *this;
+}
+
+/** Applies on the right the shear transformation represented
+ * by the vector \a other to \c *this and returns a reference to \c *this.
+ * \warning 2D only.
+ * \sa preshear()
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+EIGEN_DEVICE_FUNC Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim, Mode, Options>::shear(
+    const Scalar& sx, const Scalar& sy) {
+  EIGEN_STATIC_ASSERT(int(Dim) == 2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  EIGEN_STATIC_ASSERT(Mode != int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  VectorType tmp = linear().col(0) * sy + linear().col(1);
+  linear() << linear().col(0) + linear().col(1) * sx, tmp;
+  return *this;
+}
+
+/** Applies on the left the shear transformation represented
+ * by the vector \a other to \c *this and returns a reference to \c *this.
+ * \warning 2D only.
+ * \sa shear()
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+EIGEN_DEVICE_FUNC Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim, Mode, Options>::preshear(
+    const Scalar& sx, const Scalar& sy) {
+  EIGEN_STATIC_ASSERT(int(Dim) == 2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  EIGEN_STATIC_ASSERT(Mode != int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  m_matrix.template block<Dim, HDim>(0, 0) =
+      LinearMatrixType({{1, sy}, {sx, 1}}) * m_matrix.template block<Dim, HDim>(0, 0);
+  return *this;
+}
+
+/******************************************************
+*** Scaling, Translation and Rotation compatibility ***
+******************************************************/
+
+template <typename Scalar, int Dim, int Mode, int Options>
+EIGEN_DEVICE_FUNC inline Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim, Mode, Options>::operator=(
+    const TranslationType& t) {
+  linear().setIdentity();
+  translation() = t.vector();
+  makeAffine();
+  return *this;
+}
+
+template <typename Scalar, int Dim, int Mode, int Options>
+EIGEN_DEVICE_FUNC inline Transform<Scalar, Dim, Mode, Options> Transform<Scalar, Dim, Mode, Options>::operator*(
+    const TranslationType& t) const {
+  Transform res = *this;
+  res.translate(t.vector());
+  return res;
+}
+
+template <typename Scalar, int Dim, int Mode, int Options>
+EIGEN_DEVICE_FUNC inline Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim, Mode, Options>::operator=(
+    const UniformScaling<Scalar>& s) {
+  m_matrix.setZero();
+  linear().diagonal().fill(s.factor());
+  makeAffine();
+  return *this;
+}
+
+template <typename Scalar, int Dim, int Mode, int Options>
+template <typename Derived>
+EIGEN_DEVICE_FUNC inline Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim, Mode, Options>::operator=(
+    const RotationBase<Derived, Dim>& r) {
+  linear() = internal::toRotationMatrix<Scalar, Dim>(r);
+  translation().setZero();
+  makeAffine();
+  return *this;
+}
+
+template <typename Scalar, int Dim, int Mode, int Options>
+template <typename Derived>
+EIGEN_DEVICE_FUNC inline Transform<Scalar, Dim, Mode, Options> Transform<Scalar, Dim, Mode, Options>::operator*(
+    const RotationBase<Derived, Dim>& r) const {
+  Transform res = *this;
+  res.rotate(r.derived());
+  return res;
+}
+
+/************************
+*** Special functions ***
+************************/
+
+namespace internal {
+template <int Mode>
+struct transform_rotation_impl {
+  template <typename TransformType>
+  EIGEN_DEVICE_FUNC static inline const typename TransformType::LinearMatrixType run(const TransformType& t) {
+    typedef typename TransformType::LinearMatrixType LinearMatrixType;
+    LinearMatrixType result;
+    t.computeRotationScaling(&result, (LinearMatrixType*)0);
+    return result;
+  }
+};
+template <>
+struct transform_rotation_impl<Isometry> {
+  template <typename TransformType>
+  EIGEN_DEVICE_FUNC static inline typename TransformType::ConstLinearPart run(const TransformType& t) {
+    return t.linear();
+  }
+};
+}  // namespace internal
+/** \returns the rotation part of the transformation
+ *
+ * If Mode==Isometry, then this method is an alias for linear(),
+ * otherwise it calls computeRotationScaling() to extract the rotation
+ * through a SVD decomposition.
+ *
+ * \svd_module
+ *
+ * \sa computeRotationScaling(), computeScalingRotation(), class SVD
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+EIGEN_DEVICE_FUNC typename Transform<Scalar, Dim, Mode, Options>::RotationReturnType
+Transform<Scalar, Dim, Mode, Options>::rotation() const {
+  return internal::transform_rotation_impl<Mode>::run(*this);
+}
+
+/** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
+ * not necessarily positive.
+ *
+ * If either pointer is zero, the corresponding computation is skipped.
+ *
+ *
+ *
+ * \svd_module
+ *
+ * \sa computeScalingRotation(), rotation(), class SVD
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+template <typename RotationMatrixType, typename ScalingMatrixType>
+EIGEN_DEVICE_FUNC void Transform<Scalar, Dim, Mode, Options>::computeRotationScaling(RotationMatrixType* rotation,
+                                                                                     ScalingMatrixType* scaling) const {
+  // Note that JacobiSVD is faster than BDCSVD for small matrices.
+  JacobiSVD<LinearMatrixType, ComputeFullU | ComputeFullV> svd(linear());
+
+  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant() < Scalar(0)
+                 ? Scalar(-1)
+                 : Scalar(1);  // so x has absolute value 1
+  VectorType sv(svd.singularValues());
+  sv.coeffRef(Dim - 1) *= x;
+  if (scaling) (*scaling).noalias() = svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint();
+  if (rotation) {
+    LinearMatrixType m(svd.matrixU());
+    m.col(Dim - 1) *= x;
+    (*rotation).noalias() = m * svd.matrixV().adjoint();
+  }
+}
+
+/** decomposes the linear part of the transformation as a product scaling x rotation, the scaling being
+ * not necessarily positive.
+ *
+ * If either pointer is zero, the corresponding computation is skipped.
+ *
+ *
+ *
+ * \svd_module
+ *
+ * \sa computeRotationScaling(), rotation(), class SVD
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+template <typename ScalingMatrixType, typename RotationMatrixType>
+EIGEN_DEVICE_FUNC void Transform<Scalar, Dim, Mode, Options>::computeScalingRotation(
+    ScalingMatrixType* scaling, RotationMatrixType* rotation) const {
+  // Note that JacobiSVD is faster than BDCSVD for small matrices.
+  JacobiSVD<LinearMatrixType, ComputeFullU | ComputeFullV> svd(linear());
+
+  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant() < Scalar(0)
+                 ? Scalar(-1)
+                 : Scalar(1);  // so x has absolute value 1
+  VectorType sv(svd.singularValues());
+  sv.coeffRef(Dim - 1) *= x;
+  if (scaling) *scaling = svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint();
+  if (rotation) {
+    LinearMatrixType m(svd.matrixU());
+    m.col(Dim - 1) *= x;
+    *rotation = m * svd.matrixV().adjoint();
+  }
+}
+
+/** Convenient method to set \c *this from a position, orientation and scale
+ * of a 3D object.
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+template <typename PositionDerived, typename OrientationType, typename ScaleDerived>
+EIGEN_DEVICE_FUNC Transform<Scalar, Dim, Mode, Options>&
+Transform<Scalar, Dim, Mode, Options>::fromPositionOrientationScale(const MatrixBase<PositionDerived>& position,
+                                                                    const OrientationType& orientation,
+                                                                    const MatrixBase<ScaleDerived>& scale) {
+  linear() = internal::toRotationMatrix<Scalar, Dim>(orientation);
+  linear() *= scale.asDiagonal();
+  translation() = position;
+  makeAffine();
+  return *this;
+}
+
+namespace internal {
+
+template <int Mode>
+struct transform_make_affine {
+  template <typename MatrixType>
+  EIGEN_DEVICE_FUNC static void run(MatrixType& mat) {
+    static const int Dim = MatrixType::ColsAtCompileTime - 1;
+    mat.template block<1, Dim>(Dim, 0).setZero();
+    mat.coeffRef(Dim, Dim) = typename MatrixType::Scalar(1);
+  }
+};
+
+template <>
+struct transform_make_affine<AffineCompact> {
+  template <typename MatrixType>
+  EIGEN_DEVICE_FUNC static void run(MatrixType&) {}
+};
+
+// selector needed to avoid taking the inverse of a 3x4 matrix
+template <typename TransformType, int Mode = TransformType::Mode>
+struct projective_transform_inverse {
+  EIGEN_DEVICE_FUNC static inline void run(const TransformType&, TransformType&) {}
+};
+
+template <typename TransformType>
+struct projective_transform_inverse<TransformType, Projective> {
+  EIGEN_DEVICE_FUNC static inline void run(const TransformType& m, TransformType& res) {
+    res.matrix() = m.matrix().inverse();
+  }
+};
+
+}  // end namespace internal
+
+/**
+ *
+ * \returns the inverse transformation according to some given knowledge
+ * on \c *this.
+ *
+ * \param hint allows to optimize the inversion process when the transformation
+ * is known to be not a general transformation (optional). The possible values are:
+ *  - #Projective if the transformation is not necessarily affine, i.e., if the
+ *    last row is not guaranteed to be [0 ... 0 1]
+ *  - #Affine if the last row can be assumed to be [0 ... 0 1]
+ *  - #Isometry if the transformation is only a concatenations of translations
+ *    and rotations.
+ *  The default is the template class parameter \c Mode.
+ *
+ * \warning unless \a traits is always set to NoShear or NoScaling, this function
+ * requires the generic inverse method of MatrixBase defined in the LU module. If
+ * you forget to include this module, then you will get hard to debug linking errors.
+ *
+ * \sa MatrixBase::inverse()
+ */
+template <typename Scalar, int Dim, int Mode, int Options>
+EIGEN_DEVICE_FUNC Transform<Scalar, Dim, Mode, Options> Transform<Scalar, Dim, Mode, Options>::inverse(
+    TransformTraits hint) const {
+  Transform res;
+  if (hint == Projective) {
+    internal::projective_transform_inverse<Transform>::run(*this, res);
+  } else {
+    if (hint == Isometry) {
+      res.matrix().template topLeftCorner<Dim, Dim>() = linear().transpose();
+    } else if (hint & Affine) {
+      res.matrix().template topLeftCorner<Dim, Dim>() = linear().inverse();
+    } else {
+      eigen_assert(false && "Invalid transform traits in Transform::Inverse");
+    }
+    // translation and remaining parts
+    res.matrix().template topRightCorner<Dim, 1>().noalias() =
+        -res.matrix().template topLeftCorner<Dim, Dim>() * translation();
+    res.makeAffine();  // we do need this, because in the beginning res is uninitialized
+  }
+  return res;
+}
+
+namespace internal {
+
+/*****************************************************
+*** Specializations of take affine part            ***
+*****************************************************/
+
+template <typename TransformType>
+struct transform_take_affine_part {
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef typename TransformType::AffinePart AffinePart;
+  typedef typename TransformType::ConstAffinePart ConstAffinePart;
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE AffinePart run(MatrixType& m) {
+    return m.template block<TransformType::Dim, TransformType::HDim>(0, 0);
+  }
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ConstAffinePart run(const MatrixType& m) {
+    return m.template block<TransformType::Dim, TransformType::HDim>(0, 0);
+  }
+};
+
+template <typename Scalar, int Dim, int Options>
+struct transform_take_affine_part<Transform<Scalar, Dim, AffineCompact, Options> > {
+  typedef typename Transform<Scalar, Dim, AffineCompact, Options>::MatrixType MatrixType;
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE MatrixType& run(MatrixType& m) { return m; }
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const MatrixType& run(const MatrixType& m) { return m; }
+};
+
+/*****************************************************
+*** Specializations of construct from matrix       ***
+*****************************************************/
+
+template <typename Other, int Mode, int Options, int Dim, int HDim>
+struct transform_construct_from_matrix<Other, Mode, Options, Dim, HDim, Dim, Dim> {
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(
+      Transform<typename Other::Scalar, Dim, Mode, Options>* transform, const Other& other) {
+    transform->linear() = other;
+    transform->translation().setZero();
+    transform->makeAffine();
+  }
+};
+
+template <typename Other, int Mode, int Options, int Dim, int HDim>
+struct transform_construct_from_matrix<Other, Mode, Options, Dim, HDim, Dim, HDim> {
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(
+      Transform<typename Other::Scalar, Dim, Mode, Options>* transform, const Other& other) {
+    transform->affine() = other;
+    transform->makeAffine();
+  }
+};
+
+template <typename Other, int Mode, int Options, int Dim, int HDim>
+struct transform_construct_from_matrix<Other, Mode, Options, Dim, HDim, HDim, HDim> {
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(
+      Transform<typename Other::Scalar, Dim, Mode, Options>* transform, const Other& other) {
+    transform->matrix() = other;
+  }
+};
+
+template <typename Other, int Options, int Dim, int HDim>
+struct transform_construct_from_matrix<Other, AffineCompact, Options, Dim, HDim, HDim, HDim> {
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(
+      Transform<typename Other::Scalar, Dim, AffineCompact, Options>* transform, const Other& other) {
+    transform->matrix() = other.template block<Dim, HDim>(0, 0);
+  }
+};
+
+/**********************************************************
+***   Specializations of operator* with rhs EigenBase   ***
+**********************************************************/
+
+template <int LhsMode, int RhsMode>
+struct transform_product_result {
+  enum {
+    Mode = (LhsMode == (int)Projective || RhsMode == (int)Projective)         ? Projective
+           : (LhsMode == (int)Affine || RhsMode == (int)Affine)               ? Affine
+           : (LhsMode == (int)AffineCompact || RhsMode == (int)AffineCompact) ? AffineCompact
+           : (LhsMode == (int)Isometry || RhsMode == (int)Isometry)           ? Isometry
+                                                                              : Projective
+  };
+};
+
+template <typename TransformType, typename MatrixType, int RhsCols>
+struct transform_right_product_impl<TransformType, MatrixType, 0, RhsCols> {
+  typedef typename MatrixType::PlainObject ResultType;
+
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other) {
+    return T.matrix() * other;
+  }
+};
+
+template <typename TransformType, typename MatrixType, int RhsCols>
+struct transform_right_product_impl<TransformType, MatrixType, 1, RhsCols> {
+  enum {
+    Dim = TransformType::Dim,
+    HDim = TransformType::HDim,
+    OtherRows = MatrixType::RowsAtCompileTime,
+    OtherCols = MatrixType::ColsAtCompileTime
+  };
+
+  typedef typename MatrixType::PlainObject ResultType;
+
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other) {
+    EIGEN_STATIC_ASSERT(OtherRows == HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
+
+    typedef Block<ResultType, Dim, OtherCols, int(MatrixType::RowsAtCompileTime) == Dim> TopLeftLhs;
+
+    ResultType res(other.rows(), other.cols());
+    TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.affine() * other;
+    res.row(OtherRows - 1) = other.row(OtherRows - 1);
+
+    return res;
+  }
+};
+
+template <typename TransformType, typename MatrixType, int RhsCols>
+struct transform_right_product_impl<TransformType, MatrixType, 2, RhsCols> {
+  enum {
+    Dim = TransformType::Dim,
+    HDim = TransformType::HDim,
+    OtherRows = MatrixType::RowsAtCompileTime,
+    OtherCols = MatrixType::ColsAtCompileTime
+  };
+
+  typedef typename MatrixType::PlainObject ResultType;
+
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other) {
+    EIGEN_STATIC_ASSERT(OtherRows == Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
+
+    typedef Block<ResultType, Dim, OtherCols, true> TopLeftLhs;
+    ResultType res(
+        Replicate<typename TransformType::ConstTranslationPart, 1, OtherCols>(T.translation(), 1, other.cols()));
+    TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() += T.linear() * other;
+
+    return res;
+  }
+};
+
+template <typename TransformType, typename MatrixType>
+struct transform_right_product_impl<TransformType, MatrixType, 2, 1>  // rhs is a vector of size Dim
+{
+  typedef typename TransformType::MatrixType TransformMatrix;
+  enum {
+    Dim = TransformType::Dim,
+    HDim = TransformType::HDim,
+    OtherRows = MatrixType::RowsAtCompileTime,
+    WorkingRows = plain_enum_min(TransformMatrix::RowsAtCompileTime, HDim)
+  };
+
+  typedef typename MatrixType::PlainObject ResultType;
+
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other) {
+    EIGEN_STATIC_ASSERT(OtherRows == Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
+
+    Matrix<typename ResultType::Scalar, Dim + 1, 1> rhs;
+    rhs.template head<Dim>() = other;
+    rhs[Dim] = typename ResultType::Scalar(1);
+    Matrix<typename ResultType::Scalar, WorkingRows, 1> res(T.matrix() * rhs);
+    return res.template head<Dim>();
+  }
+};
+
+/**********************************************************
+***   Specializations of operator* with lhs EigenBase   ***
+**********************************************************/
+
+// generic HDim x HDim matrix * T => Projective
+template <typename Other, int Mode, int Options, int Dim, int HDim>
+struct transform_left_product_impl<Other, Mode, Options, Dim, HDim, HDim, HDim> {
+  typedef Transform<typename Other::Scalar, Dim, Mode, Options> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef Transform<typename Other::Scalar, Dim, Projective, Options> ResultType;
+  static EIGEN_DEVICE_FUNC ResultType run(const Other& other, const TransformType& tr) {
+    return ResultType(other * tr.matrix());
+  }
+};
+
+// generic HDim x HDim matrix * AffineCompact => Projective
+template <typename Other, int Options, int Dim, int HDim>
+struct transform_left_product_impl<Other, AffineCompact, Options, Dim, HDim, HDim, HDim> {
+  typedef Transform<typename Other::Scalar, Dim, AffineCompact, Options> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef Transform<typename Other::Scalar, Dim, Projective, Options> ResultType;
+  static EIGEN_DEVICE_FUNC ResultType run(const Other& other, const TransformType& tr) {
+    ResultType res;
+    res.matrix().noalias() = other.template block<HDim, Dim>(0, 0) * tr.matrix();
+    res.matrix().col(Dim) += other.col(Dim);
+    return res;
+  }
+};
+
+// affine matrix * T
+template <typename Other, int Mode, int Options, int Dim, int HDim>
+struct transform_left_product_impl<Other, Mode, Options, Dim, HDim, Dim, HDim> {
+  typedef Transform<typename Other::Scalar, Dim, Mode, Options> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef TransformType ResultType;
+  static EIGEN_DEVICE_FUNC ResultType run(const Other& other, const TransformType& tr) {
+    ResultType res;
+    res.affine().noalias() = other * tr.matrix();
+    res.matrix().row(Dim) = tr.matrix().row(Dim);
+    return res;
+  }
+};
+
+// affine matrix * AffineCompact
+template <typename Other, int Options, int Dim, int HDim>
+struct transform_left_product_impl<Other, AffineCompact, Options, Dim, HDim, Dim, HDim> {
+  typedef Transform<typename Other::Scalar, Dim, AffineCompact, Options> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef TransformType ResultType;
+  static EIGEN_DEVICE_FUNC ResultType run(const Other& other, const TransformType& tr) {
+    ResultType res;
+    res.matrix().noalias() = other.template block<Dim, Dim>(0, 0) * tr.matrix();
+    res.translation() += other.col(Dim);
+    return res;
+  }
+};
+
+// linear matrix * T
+template <typename Other, int Mode, int Options, int Dim, int HDim>
+struct transform_left_product_impl<Other, Mode, Options, Dim, HDim, Dim, Dim> {
+  typedef Transform<typename Other::Scalar, Dim, Mode, Options> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef TransformType ResultType;
+  static EIGEN_DEVICE_FUNC ResultType run(const Other& other, const TransformType& tr) {
+    TransformType res;
+    if (Mode != int(AffineCompact)) res.matrix().row(Dim) = tr.matrix().row(Dim);
+    res.matrix().template topRows<Dim>().noalias() = other * tr.matrix().template topRows<Dim>();
+    return res;
+  }
+};
+
+/**********************************************************
+*** Specializations of operator* with another Transform ***
+**********************************************************/
+
+template <typename Scalar, int Dim, int LhsMode, int LhsOptions, int RhsMode, int RhsOptions>
+struct transform_transform_product_impl<Transform<Scalar, Dim, LhsMode, LhsOptions>,
+                                        Transform<Scalar, Dim, RhsMode, RhsOptions>, false> {
+  enum { ResultMode = transform_product_result<LhsMode, RhsMode>::Mode };
+  typedef Transform<Scalar, Dim, LhsMode, LhsOptions> Lhs;
+  typedef Transform<Scalar, Dim, RhsMode, RhsOptions> Rhs;
+  typedef Transform<Scalar, Dim, ResultMode, LhsOptions> ResultType;
+  static EIGEN_DEVICE_FUNC ResultType run(const Lhs& lhs, const Rhs& rhs) {
+    ResultType res;
+    res.linear().noalias() = lhs.linear() * rhs.linear();
+    res.translation() = lhs.linear() * rhs.translation() + lhs.translation();
+    res.makeAffine();
+    return res;
+  }
+};
+
+template <typename Scalar, int Dim, int LhsMode, int LhsOptions, int RhsMode, int RhsOptions>
+struct transform_transform_product_impl<Transform<Scalar, Dim, LhsMode, LhsOptions>,
+                                        Transform<Scalar, Dim, RhsMode, RhsOptions>, true> {
+  typedef Transform<Scalar, Dim, LhsMode, LhsOptions> Lhs;
+  typedef Transform<Scalar, Dim, RhsMode, RhsOptions> Rhs;
+  typedef Transform<Scalar, Dim, Projective> ResultType;
+  static EIGEN_DEVICE_FUNC ResultType run(const Lhs& lhs, const Rhs& rhs) {
+    return ResultType(lhs.matrix() * rhs.matrix());
+  }
+};
+
+template <typename Scalar, int Dim, int LhsOptions, int RhsOptions>
+struct transform_transform_product_impl<Transform<Scalar, Dim, AffineCompact, LhsOptions>,
+                                        Transform<Scalar, Dim, Projective, RhsOptions>, true> {
+  typedef Transform<Scalar, Dim, AffineCompact, LhsOptions> Lhs;
+  typedef Transform<Scalar, Dim, Projective, RhsOptions> Rhs;
+  typedef Transform<Scalar, Dim, Projective> ResultType;
+  static EIGEN_DEVICE_FUNC ResultType run(const Lhs& lhs, const Rhs& rhs) {
+    ResultType res;
+    res.matrix().template topRows<Dim>() = lhs.matrix() * rhs.matrix();
+    res.matrix().row(Dim) = rhs.matrix().row(Dim);
+    return res;
+  }
+};
+
+template <typename Scalar, int Dim, int LhsOptions, int RhsOptions>
+struct transform_transform_product_impl<Transform<Scalar, Dim, Projective, LhsOptions>,
+                                        Transform<Scalar, Dim, AffineCompact, RhsOptions>, true> {
+  typedef Transform<Scalar, Dim, Projective, LhsOptions> Lhs;
+  typedef Transform<Scalar, Dim, AffineCompact, RhsOptions> Rhs;
+  typedef Transform<Scalar, Dim, Projective> ResultType;
+  static EIGEN_DEVICE_FUNC ResultType run(const Lhs& lhs, const Rhs& rhs) {
+    ResultType res(lhs.matrix().template leftCols<Dim>() * rhs.matrix());
+    res.matrix().col(Dim) += lhs.matrix().col(Dim);
+    return res;
+  }
+};
+
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_TRANSFORM_H