Ben, <br><br>In the package tf_conversions you&#39;ll find tf_kdl.h with a bunch of conversions.  <br><br>Tully<br><br><div class="gmail_quote">On Thu, Oct 21, 2010 at 5:04 PM, Axelrod, Benjamin <span dir="ltr">&lt;<a href="mailto:baxelrod@irobot.com">baxelrod@irobot.com</a>&gt;</span> wrote:<br>

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<p class="MsoNormal"><span style="font-size: 12pt;">Eigen has a nice conversion
library, eigen_conversions, I am wondering if there is a similar one for KDL
types?</span></p>

<p class="MsoNormal"><span style="font-size: 12pt;">Thanks,</span></p>

<p class="MsoNormal"><span style="font-size: 12pt;">-Ben</span></p>

<p class="MsoNormal"><span style="font-size: 12pt;"> </span></p>

<p class="MsoNormal"><span style="font-size: 12pt;">Ben Axelrod</span><span style="font-size: 12pt;"></span></p>

<p class="MsoNormal"><span style="font-size: 12pt;">Research Scientist</span><span style="font-size: 12pt;"></span></p>

<p class="MsoNormal"><span style="font-size: 12pt;">iRobot Corporation</span><span style="font-size: 12pt;"></span></p>

<p class="MsoNormal"><span style="font-size: 12pt;">8 Crosby Drive, Mail Stop 8-1</span><span style="font-size: 12pt;"></span></p>

<p class="MsoNormal"><span style="font-size: 12pt;">Bedford, MA 01730</span><span style="font-size: 12pt;"></span></p>

<p class="MsoNormal"><span style="font-size: 12pt;">(781) 430-3315 (Tel)</span></p>

<p class="MsoNormal"><span style="font-size: 12pt;">(781) 960-2628 (Fax)</span><span style="font-size: 12pt;"></span></p>

<p class="MsoNormal"><span style="font-size: 12pt;"><a href="mailto:ofitch@irobot.com" target="_blank"><span style="color: windowtext;">baxelrod@irobot.com</span></a></span><span style="font-size: 12pt;"></span></p>

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<br></blockquote></div><br><br clear="all"><br>-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a><br>(650) 475-2827<br>