A RotationTranslation class
Submitted by Cyrille Berger
Assigned to Hauke Heibel
Link to original bugzilla bug (#47)
Description
The goal of such a class is to hold rotation and translation into separate objects. My use case is to extend a Quaternion with Translation information. The reason I do not want to use Affine3d is that, for my algorithm, I need to compute the angle of transformations at each iteration, which is extremely slow to get from an Affine3d. This class allows me to get cheap computation of the angle, while keeping the ease of composing transformations together.
Even if I don't really see an use beyond having a Quaternion with a Translation, I have made it generic, in the sense that you can use it with other type of rotation, such as AngleAxis.
I have attached a pre-patch. If there is an interest for this class in Eigen, I am willing to spend more time to polish it, update documentation and write an unit test.