1 files changed, 21 insertions, 11 deletions
diff --git a/Eigen/src/Geometry/RotationBase.h b/Eigen/src/Geometry/RotationBase.h
index 181e65be9..65b9cd834 100644
--- a/Eigen/src/Geometry/RotationBase.h
+++ b/Eigen/src/Geometry/RotationBase.h
@@ -26,8 +26,10 @@
 #define EIGEN_ROTATIONBASE_H
 
 // forward declaration
+namespace internal {
 template<typename RotationDerived, typename MatrixType, bool IsVector=MatrixType::IsVectorAtCompileTime>
-struct ei_rotation_base_generic_product_selector;
+struct rotation_base_generic_product_selector;
+}
 
 /** \class RotationBase
   *
@@ -42,7 +44,7 @@ class RotationBase
   public:
     enum { Dim = _Dim };
     /** the scalar type of the coefficients */
-    typedef typename ei_traits<Derived>::Scalar Scalar;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
 
     /** corresponding linear transformation matrix type */
     typedef Matrix<Scalar,Dim,Dim> RotationMatrixType;
@@ -78,9 +80,9 @@ class RotationBase
       *  - a vector of size Dim
       */
     template<typename OtherDerived>
-    EIGEN_STRONG_INLINE typename ei_rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
+    EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
     operator*(const EigenBase<OtherDerived>& e) const
-    { return ei_rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
+    { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
 
     /** \returns the concatenation of a linear transformation \a l with the rotation \a r */
     template<typename OtherDerived> friend
@@ -105,9 +107,11 @@ class RotationBase
     { return toRotationMatrix() * v; }
 };
 
+namespace internal {
+
 // implementation of the generic product rotation * matrix
 template<typename RotationDerived, typename MatrixType>
-struct ei_rotation_base_generic_product_selector<RotationDerived,MatrixType,false>
+struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false>
 {
   enum { Dim = RotationDerived::Dim };
   typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType;
@@ -116,7 +120,7 @@ struct ei_rotation_base_generic_product_selector<RotationDerived,MatrixType,fals
 };
 
 template<typename RotationDerived, typename Scalar, int Dim, int MaxDim>
-struct ei_rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false >
+struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false >
 {
   typedef Transform<Scalar,Dim,Affine> ReturnType;
   inline static ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
@@ -128,7 +132,7 @@ struct ei_rotation_base_generic_product_selector< RotationDerived, DiagonalMatri
 };
 
 template<typename RotationDerived,typename OtherVectorType>
-struct ei_rotation_base_generic_product_selector<RotationDerived,OtherVectorType,true>
+struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,true>
 {
   enum { Dim = RotationDerived::Dim };
   typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType;
@@ -138,6 +142,8 @@ struct ei_rotation_base_generic_product_selector<RotationDerived,OtherVectorType
   }
 };
 
+} // end namespace internal
+
 /** \geometry_module
   *
   * \brief Constructs a Dim x Dim rotation matrix from the rotation \a r
@@ -165,6 +171,8 @@ Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
   return *this = r.toRotationMatrix();
 }
 
+namespace internal {
+
 /** \internal
   *
   * Helper function to return an arbitrary rotation object to a rotation matrix.
@@ -179,29 +187,31 @@ Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
   *   - any matrix expression,
   *   - any type based on RotationBase (e.g., Quaternion, AngleAxis, Rotation2D)
   *
-  * Currently ei_toRotationMatrix is only used by Transform.
+  * Currently toRotationMatrix is only used by Transform.
   *
   * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis
   */
 template<typename Scalar, int Dim>
-inline static Matrix<Scalar,2,2> ei_toRotationMatrix(const Scalar& s)
+inline static Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s)
 {
   EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
   return Rotation2D<Scalar>(s).toRotationMatrix();
 }
 
 template<typename Scalar, int Dim, typename OtherDerived>
-inline static Matrix<Scalar,Dim,Dim> ei_toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
+inline static Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
 {
   return r.toRotationMatrix();
 }
 
 template<typename Scalar, int Dim, typename OtherDerived>
-inline static const MatrixBase<OtherDerived>& ei_toRotationMatrix(const MatrixBase<OtherDerived>& mat)
+inline static const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat)
 {
   EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
     YOU_MADE_A_PROGRAMMING_MISTAKE)
   return mat;
 }
 
+} // end namespace internal
+
 #endif // EIGEN_ROTATIONBASE_H