KDL: frames.hpp


I've started using KDL recently and I've come across some curiosities,
though I'm not sure if this message perhaps belongs more in orocos-dev
than orocos-users

* Orocos uses Eigen in some cases for Vectors and Matrices, however
does not do so in frames.hpp and dependents of frames.
* Orocos KDL neither defines its own nor uses Eigen's Quaternion class.
* There would seem to be many places where KDL could leverage Eigen to
do heavy lifting.

Which prompt the following questions:
* Is there a reason KDL didn't decide to use Eigen "whole-hog"?
* Is a move to whole-hog-eigen planned? desired? (patches to this end welcome?)

Andy Somerville
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