Add transformation matrix to task

[geraldb]

In order to have it readily available, used frequently.

Something like that: STask.hpp: Eigen::Affine3d Trans_matrix;

STask.cpp: Trans_matrix.setIdentity();

CTask.cpp: Eigen::Affine3d T; dynamics_->calculateTransformationMatrix(data_->link_dynamic_id_,T); data_->Trans_matrix = T;

[Samir Menon]

Transformation matrices are specific to op point tasks. Can't add to STask.

What are you using this for?

[Samir Menon]

These are all part of SRigidBodyDyn, which may be accessed through the dynamic tree in SGcModel.