amp; T) {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  Eigen::Quaterniond q(T);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  tf::Transform tf_T;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  tf_T.setRotation(tf::Quaternion(q.x(), q.y(), q.z(), q.w()));</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  tf_T.setOrigin(tf::Vector3(T(0, 3), T(1, 3), T(2, 3