l#a8342338c4b850f5111c3f18431fff092">isometry3ToTf</a>(<span class="keyword">const</span> Eigen::Isometry3d&amp; T) {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  Eigen::Quaterniond q(T.rotation());</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  tf::Transform tf_T;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  tf_T.setRotation(tf::Quaternion(q.x(), q.y(), q.z(), q.w()));</div>
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