On 08/24/2010 03:03 PM, Philippe Hamelin wrote:
> Hello,
>
> does anyone has already coded a plugin/toolkit (RTT 1.x) to support
> Eigen2 or Eigen3 types such as Matrix, Quaternion and Transform?

Yes and no ...

This would be useless because Eigen types *cannot* be safely put on the
RTT dataflow as they have very stringent alignment requirements (and it
is hard to guarantee that you won't break those in the RTT case). You
therefore have to convert them *manually* to eigen-free types first and
*then* create a typekit for those. If you are interested, you can look at

The "yes" part is that we already did that work, but for our branch of
RTT1.x -- which I believe is not compatible with the normal 1.x typekit
-- and using oroGen.

You can have a look at

http://github.com/doudou/base/blob/imoby/base/linear_algebra.h

(Note: You can't really marshal Transform. You will have to convert it
to one of the other representations first ...)