Support vectorized transformations/rotations

[furgalep]

Something like:

Eigen::Matrix<double, 3, Eigen::Dynamic> W_landmarks;
Transformation T_B_W;
// ... fill in.

Eigen::Matrix<double, 3, Eigen::Dynamic> B_landmarks(T_B_W.transform(W_landmarks));

[tcies]

Will do :)

[tcies]

Only for non-homogeneous, if ok, I don't have the means to verify homogeneous.

[tcies]

The next radical thing would be a QuatTransformations type which has a Matrix3X for positions and a vectorized quaternion form (wait, does that exist?) for rotations, so we can mass-transform transformations. Not that it couldn't be useful (batch-transforming missions into the global frame). :)

[simonlynen]

@tcies I don't think there is a use-case for transforming multiple transformations at once.

[dymczykm]

@simonlynen How about transforming store landmark ids to global coordinates when streaming to the agent?

[simonlynen]

Yes, but I don't see how transforming multiple transformations in batch helps here.