etZ());</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  Eigen::Vector3d t(tf_T.getOrigin().getX(), tf_T.getOrigin().getY(), tf_T.getOrigin().getZ());</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  T.setIdentity();</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  T.rotate(q);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  T.pretranslate(t);</div>
<div class=