60;  Eigen::Vector3d t(odomLidar.pose.pose.position.x, odomLidar.pose.pose.position.y, odomLidar.pose.pose.position.z);</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</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="l00025"></a><span class="lineno">   25</span>&#160;  T.setIdentity();</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  T.block&lt;3, 3&gt;(0, 0) = q.