 class="lineno">   63</span>&#160;  Eigen::Quaternion&lt;double&gt; q(tf_q.getW(), tf_q.getX(), tf_q.getY(), tf_q.getZ());</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  Eigen::Vector3d t(tf_T.getOrigin().getX(), tf_T.getOrigin().getY(), tf_T.getOrigin().getZ());</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  T.setIdentity();</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  T.block&lt;3, 3&gt;(