Add conversion functions for Eigen::Isometry3d. #113
Merged
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I added overloads for Eigen::Isometry3d. It makes more sense than Affine3d since tf poses and transforms are isometries, and not affine transformations.
The functions are overloads, so code that is currently working is not affected.
To prevent code duplication the actual conversion is implemented as a function template in an anonymous namespace in the source file.
The unit tests are also updated to check both the affine and isometry versions.