# Math operations for geometry_msgs/Vector3

I have an IMU sensor mounted on my robot, but without properly aligned axes. To more get more easily processed data, I want to transform its output so the axes align. This is quite easily done with some calibration and usage of the dot product. However, there seem to be no math operations defined for Vector3 in geometry_msgs.

Is the proper way to do this to create a new vector of Eigen's format, do the calculations and then convert it back to Vector3? As I've understood there's no way to just cast between the types.