Roll, pitch, yaw using Eigen and KDL Frame


From Eigen documentation:

If you are working with OpenGL 4×4 matrices then Affine3f and Affine3d are what you want.
Since Eigen defaults to column-major storage, you can directly use the Transform::data()  method to pass your transformation matrix to OpenGL.

construct a Transform:

or like this:

But note that unfortunately, because of how C++ works, you can not do this:

and with KDL Frame:


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