diff --git a/dynamic-graph3/Makefile b/dynamic-graph3/Makefile
index 4dbb6be4c6c86641f8dd4e70b0fc1fdca7b39042..90067b4d305b91d03e6794c0af37baef9d6c9837 100644
--- a/dynamic-graph3/Makefile
+++ b/dynamic-graph3/Makefile
@@ -25,6 +25,7 @@ CMAKE_ARGS+= -DMANDIR=${PREFIX}/${PKGMANDIR}
# library location
CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
+PATCH_STRIP?= -p1
include ../../math/eigen3/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../mk/sysdep/cmake.mk
diff --git a/dynamic-graph3/distinfo b/dynamic-graph3/distinfo
index cb4009ffd35f8699d8840bd617e2233e45bb473d..ab198653233df153bcc8c9a737e1e10cc1bb6d39 100644
--- a/dynamic-graph3/distinfo
+++ b/dynamic-graph3/distinfo
@@ -1,3 +1,4 @@
SHA1 (dynamic-graph-3.0.0.tar.gz) = 2d88c7942ecbb2b8d5d680fcf8c21eaf4bc6ff34
RMD160 (dynamic-graph-3.0.0.tar.gz) = e2f50ba8e06003d264fd9e61afef9248c7df4dea
Size (dynamic-graph-3.0.0.tar.gz) = 429940 bytes
+SHA1 (patch-aa) = d0c2f6a2201962295e3efc5c5a5c61d19c32a5fd
diff --git a/dynamic-graph3/patches/patch-aa b/dynamic-graph3/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..976ccc620048875aadeb24858f5c84d01a34f0d6
--- /dev/null
+++ b/dynamic-graph3/patches/patch-aa
@@ -0,0 +1,193 @@
+Patch for inputing Eigen::Transform as Matrix4d
+
+
+diff --git a/include/dynamic-graph/value.h b/include/dynamic-graph/value.h
+index d8adc30..ffa43c0 100644
+--- a/include/dynamic-graph/value.h
++++ b/include/dynamic-graph/value.h
+@@ -30,8 +30,6 @@ namespace dynamicgraph {
+ class Value;
+ class DYNAMIC_GRAPH_DLLAPI EitherType {
+ public:
+- EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+-
+ EitherType(const Value& value);
+ ~EitherType();
+ operator bool () const;
+@@ -41,16 +39,14 @@ namespace dynamicgraph {
+ operator double () const;
+ operator std::string () const;
+ operator Vector () const;
+- operator Matrix () const;
++ operator Eigen::MatrixXd () const;
++ operator Eigen::Matrix4d () const;
+ private:
+ const Value* value_;
+ };
+
+ class DYNAMIC_GRAPH_DLLAPI Value {
+ public:
+-
+- EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+-
+ enum Type {
+ NONE,
+ BOOL,
+@@ -61,6 +57,7 @@ namespace dynamicgraph {
+ STRING,
+ VECTOR,
+ MATRIX,
++ MATRIX4D,
+ NB_TYPES
+ };
+ ~Value();
+@@ -72,7 +69,8 @@ namespace dynamicgraph {
+ explicit Value(const double& value);
+ explicit Value(const std::string& value);
+ explicit Value(const Vector& value);
+- explicit Value(const Matrix& value);
++ explicit Value(const Eigen::MatrixXd& value);
++ explicit Value(const Eigen::Matrix4d& value);
+ /// Copy constructor
+ Value(const Value& value);
+ // Construct an empty value (None)
+@@ -108,7 +106,8 @@ namespace dynamicgraph {
+ double doubleValue() const;
+ std::string stringValue() const;
+ Vector vectorValue() const;
+- Matrix matrixValue() const;
++ Eigen::MatrixXd matrixXdValue() const;
++ Eigen::Matrix4d matrix4dValue() const;
+ Type type_;
+ const void* const value_;
+ };
+diff --git a/src/command/command.cpp b/src/command/command.cpp
+index 7cd2b51..350a6af 100644
+--- a/src/command/command.cpp
++++ b/src/command/command.cpp
+@@ -50,7 +50,7 @@ namespace dynamicgraph {
+ for (unsigned int iParam=0; iParam < values.size(); iParam++) {
+ if (values[iParam].type() != paramTypes[iParam]) {
+ std::stringstream ss;
+- ss << "argument " << iParam << "is of wrong type: "
++ ss << "argument " << iParam << " is of wrong type: "
+ << Value::typeName(paramTypes[iParam]) << " expected, got "
+ << Value::typeName(values[iParam].type());
+ throw ExceptionAbstract(ExceptionAbstract::TOOLS, ss.str());
+diff --git a/src/command/value.cpp b/src/command/value.cpp
+index ed77090..4ff3123 100644
+--- a/src/command/value.cpp
++++ b/src/command/value.cpp
+@@ -61,9 +61,14 @@ namespace dynamicgraph {
+ {
+ return value_->vectorValue();
+ }
+- EitherType::operator Matrix() const
++ EitherType::operator Eigen::MatrixXd() const
+ {
+- return value_->matrixValue();
++ return value_->matrixXdValue();
++ }
++
++ EitherType::operator Eigen::Matrix4d() const
++ {
++ return value_->matrix4dValue();
+ }
+
+ void Value::deleteValue ()
+@@ -91,7 +96,10 @@ namespace dynamicgraph {
+ delete(const Vector*)value_;
+ break;
+ case MATRIX:
+- delete(const Matrix*)value_;
++ delete(const Eigen::MatrixXd*)value_;
++ break;
++ case MATRIX4D:
++ delete(const Eigen::Matrix4d*)value_;
+ break;
+ default:;
+ }
+@@ -129,8 +137,12 @@ namespace dynamicgraph {
+ value_(new Vector(value))
+ {
+ }
+- Value::Value(const Matrix& value) : type_(MATRIX),
+- value_(new Matrix(value))
++ Value::Value(const Eigen::MatrixXd& value) : type_(MATRIX),
++ value_(new Eigen::MatrixXd(value))
++ {
++ }
++ Value::Value(const Eigen::Matrix4d& value) : type_(MATRIX4D),
++ value_(new Eigen::Matrix4d(value))
+ {
+ }
+
+@@ -168,7 +180,10 @@ namespace dynamicgraph {
+ copy = new Vector(value.vectorValue());
+ break;
+ case Value::MATRIX:
+- copy = new Matrix(value.matrixValue());
++ copy = new Eigen::MatrixXd(value.matrixXdValue());
++ break;
++ case Value::MATRIX4D:
++ copy = new Eigen::Matrix4d(value.matrix4dValue());
+ break;
+ default:
+ abort();
+@@ -262,12 +277,20 @@ namespace dynamicgraph {
+ "value is not an vector");
+ }
+
+- Matrix Value::matrixValue() const
++ Eigen::MatrixXd Value::matrixXdValue() const
+ {
+ if(type_ == MATRIX)
+- return *((const Matrix*)value_);
++ return *((const Eigen::MatrixXd*)value_);
++ throw ExceptionAbstract(ExceptionAbstract::TOOLS,
++ "value is not a Eigen matrixXd");
++ }
++
++ Eigen::Matrix4d Value::matrix4dValue() const
++ {
++ if(type_ == MATRIX4D)
++ return *((const Eigen::Matrix4d*)value_);
+ throw ExceptionAbstract(ExceptionAbstract::TOOLS,
+- "value is not a matrix");
++ "value is not a Eigen matrix4d");
+ }
+
+ std::string Value::typeName(Type type)
+@@ -288,7 +311,9 @@ namespace dynamicgraph {
+ case VECTOR:
+ return std::string("vector");
+ case MATRIX:
+- return std::string("matrix");
++ return std::string("matrixXd");
++ case MATRIX4D:
++ return std::string("matrix4d");
+ default:
+ return std::string("unknown");
+ }
+@@ -321,7 +346,10 @@ namespace dynamicgraph {
+ os << value.vectorValue();
+ break;
+ case Value::MATRIX:
+- os << value.matrixValue();
++ os << value.matrixXdValue();
++ break;
++ case Value::MATRIX4D:
++ os << value.matrix4dValue();
+ break;
+ default:
+ return os;
+@@ -336,7 +364,8 @@ namespace dynamicgraph {
+ template<> const Value::Type ValueHelper<double>::TypeID = Value::DOUBLE;
+ template<> const Value::Type ValueHelper<std::string>::TypeID = Value::STRING;
+ template<> const Value::Type ValueHelper<Vector>::TypeID = Value::VECTOR;
+- template<> const Value::Type ValueHelper<Matrix>::TypeID = Value::MATRIX;
++ template<> const Value::Type ValueHelper<Eigen::MatrixXd>::TypeID = Value::MATRIX;
++ template<> const Value::Type ValueHelper<Eigen::Matrix4d>::TypeID = Value::MATRIX4D;
+
+ } // namespace command
+ } //namespace dynamicgraph