Why are *eigenToTF-functions using Eigen::Affine to represent tf::Transformation instead of Eigen::Isometry? Isn't the latter one correct to describe translation+rotation in 3D? Eigen explicitly prohibits conversion from affine to isometry:

// prevent conversions as:
// Isometry = Affine | AffineCompact
EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
                    YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)

So I ask myself if I can somehow still convert it, or if I also should use Affine to represent 3D-Transformations, which doesn't seem right to me.

Best regards,
Sebastian