08"></a><span class="lineno">    8</span>&#160;  tf::quaternionMsgToTF(pose.orientation, tf_q);</div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;  Eigen::Vector3d t(pose.position.x, pose.position.y, pose.position.z);</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</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="l00011"></a><span class="lineno">   11</span>&#160;  T