3 files changed, 84 insertions, 10 deletions
diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h
index ba3e9f46e..563735376 100644
--- a/Eigen/src/Geometry/AngleAxis.h
+++ b/Eigen/src/Geometry/AngleAxis.h
@@ -82,27 +82,32 @@ public:
   const Vector3& axis() const { return m_axis; }
   Vector3& axis() { return m_axis; }
 
-  /** Automatic conversion to a 3x3 rotation matrix.
-    * \sa toRotationMatrix() */
-  operator Matrix3 () const { return toRotationMatrix(); }
-
+  /** Concatenates two rotations */
   inline QuaternionType operator* (const AngleAxis& other) const
   { return QuaternionType(*this) * QuaternionType(other); }
-  
+
+  /** Concatenates two rotations */
   inline QuaternionType operator* (const QuaternionType& other) const
   { return QuaternionType(*this) * other; }
 
+  /** Concatenates two rotations */
   friend inline QuaternionType operator* (const QuaternionType& a, const AngleAxis& b)
   { return a * QuaternionType(b); }
 
+  /** Concatenates two rotations */
   inline typename ProductReturnType<Matrix3,Matrix3>::Type
   operator* (const Matrix3& other) const
   { return toRotationMatrix() * other; }
 
+  /** Concatenates two rotations */
   inline friend typename ProductReturnType<Matrix3,Matrix3>::Type
   operator* (const Matrix3& a, const AngleAxis& b)
   { return a * b.toRotationMatrix(); }
 
+  /** \Returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */
+  AngleAxis inverse() const
+  { return AngleAxis(-m_angle, m_axis); }
+
   AngleAxis& operator=(const QuaternionType& q);
   template<typename Derived>
   AngleAxis& operator=(const MatrixBase<Derived>& m);
@@ -179,4 +184,29 @@ AngleAxis<Scalar>::toRotationMatrix(void) const
   return res;
 }
 
+/** \geometry_module
+  *
+  * Constructs a 3x3 rotation matrix from the angle-axis \a aa
+  *
+  * \sa Matrix(const Quaternion&)
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _MaxRows, int _MaxCols, unsigned int _Flags>
+Matrix<_Scalar, _Rows, _Cols, _MaxRows, _MaxCols, _Flags>::Matrix(const AngleAxis<Scalar>& aa)
+{
+  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,3,3);
+  *this = aa.toRotationMatrix();
+}
+
+/** \geometry_module
+  *
+  * Set a 3x3 rotation matrix from the angle-axis \a aa
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _MaxRows, int _MaxCols, unsigned int _Flags>
+Matrix<_Scalar, _Rows, _Cols, _MaxRows, _MaxCols, _Flags>&
+Matrix<_Scalar, _Rows, _Cols, _MaxRows, _MaxCols, _Flags>::operator=(const AngleAxis<Scalar>& aa)
+{
+  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,3,3);
+  return *this = aa.toRotationMatrix();
+}
+
 #endif // EIGEN_ANGLEAXIS_H
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h
index b2065fdcc..ba753fa43 100644
--- a/Eigen/src/Geometry/Quaternion.h
+++ b/Eigen/src/Geometry/Quaternion.h
@@ -118,6 +118,7 @@ public:
 
   /** Constructs and initializes a quaternion from the angle-axis \a aa */
   explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
+
   /** Constructs and initializes a quaternion from either:
     *  - a rotation matrix expression,
     *  - a 4D vector expression representing quaternion coefficients.
@@ -131,9 +132,6 @@ public:
   template<typename Derived>
   Quaternion& operator=(const MatrixBase<Derived>& m);
 
-  /** Automatic conversion to a rotation matrix. */
-  operator Matrix3 () const { return toRotationMatrix(); }
-
   /** \returns a quaternion representing an identity rotation
     * \sa MatrixBase::Identity()
     */
@@ -426,4 +424,29 @@ struct ei_quaternion_assign_impl<Other,4,1>
   }
 };
 
+/** \geometry_module
+  *
+  * Constructs a 3x3 rotation matrix from the quaternion \a q
+  *
+  * \sa Matrix(const AngleAxis&)
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _MaxRows, int _MaxCols, unsigned int _Flags>
+Matrix<_Scalar, _Rows, _Cols, _MaxRows, _MaxCols, _Flags>::Matrix(const Quaternion<Scalar>& q)
+{
+  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,3,3);
+  *this = q.toRotationMatrix();
+}
+
+/** \geometry_module
+  *
+  * Set a 3x3 rotation matrix from the quaternion \a q
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _MaxRows, int _MaxCols, unsigned int _Flags>
+Matrix<_Scalar, _Rows, _Cols, _MaxRows, _MaxCols, _Flags>&
+Matrix<_Scalar, _Rows, _Cols, _MaxRows, _MaxCols, _Flags>::operator=(const Quaternion<Scalar>& q)
+{
+  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,3,3);
+  return *this = q.toRotationMatrix();
+}
+
 #endif // EIGEN_QUATERNION_H
diff --git a/Eigen/src/Geometry/Rotation.h b/Eigen/src/Geometry/Rotation.h
index a98ed061a..f6c4fd4a1 100644
--- a/Eigen/src/Geometry/Rotation.h
+++ b/Eigen/src/Geometry/Rotation.h
@@ -126,6 +126,7 @@ public:
   enum { Dim = 2 };
   /** the scalar type of the coefficients */
   typedef _Scalar Scalar;
+  typedef Matrix<Scalar,2,1> Vector2;
   typedef Matrix<Scalar,2,2> Matrix2;
 
 protected:
@@ -136,14 +137,34 @@ public:
 
   /** Construct a 2D counter clock wise rotation from the angle \a a in radian. */
   inline Rotation2D(Scalar a) : m_angle(a) {}
-  inline operator Scalar& () { return m_angle; }
-  inline operator Scalar () const { return m_angle; }
+
+  /** \Returns the rotation angle */
+  inline Scalar angle() const { return m_angle; }
+
+  /** \Returns a read-write reference to the rotation angle */
+  inline Scalar& angle() { return m_angle; }
 
   /** Automatic convertion to a 2D rotation matrix.
     * \sa toRotationMatrix()
     */
   inline operator Matrix2() const { return toRotationMatrix(); }
 
+  /** \Returns the inverse rotation */
+  inline Rotation2D inverse() const { return -m_angle; }
+
+  /** Concatenates two rotations */
+  inline Rotation2D operator*(const Rotation2D& other) const
+  { return m_angle + other.m_angle; }
+
+  /** Concatenates two rotations */
+  inline Rotation2D& operator*=(const Rotation2D& other)
+  { return m_angle += other.m_angle; }
+
+  /** Applies the rotation to a 2D vector */
+  template<typename Derived>
+  Vector2 operator* (const MatrixBase<Derived>& vec) const
+  { return toRotationMatrix() * vec; }
+
   template<typename Derived>
   Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m);
   Matrix2 toRotationMatrix(void) const;