Eigen has a nice conversion library, eigen_conversions, I am wondering if there is a similar one for KDL types? Thanks, -Ben Ben Axelrod Research Scientist iRobot Corporation 8 Crosby Drive, Mail Stop 8-1 Bedford, MA 01730 (781) 430-3315 (Tel) (781) 960-2628 (Fax) baxelrod@irobot.com