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Rotation in const Eigen::Affine3d &pose

I need to provide position as well as orientation using variable of type Eigen::Affine3d. For translation it is pose.translation().x() = 0.0797806909663 but I don't know how to provide rotation using Eigen::Affine3d. Any way out? Thanks in advance!

Asked by BotLover on 2017-07-27 14:07:09 UTC

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Check out the conversion functions in the eigen_conversions package: http://docs.ros.org/api/eigen_conversions/html/namespacetf.html

Asked by Ed Venator on 2017-07-30 22:16:26 UTC

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