tf2_eigen contains functions for converting between geometry_msgs and Eigen data types.
This library is an implementation of the templated conversion interface specified in tf/convert.h. It enables easy conversion from geometry_msgs Transform and Point types to the types specified by the Eigen matrix algebra library (see http://eigen.tuxfamily.org).
See the Conversions overview wiki page for more information about datatype conversion in tf2.
This library consists of one header only, tf2_eigen/tf2_eigen.h, which consists mostly of specializations of template functions defined in tf2/convert.h.