Explicitely added type Matrix4 in SE3.

src/spatial/se3.hpp

@@ -32,6 +32,7 @@ namespace se3
     typedef Eigen::Matrix<Scalar,4,1,Options> Vector4;
     typedef Eigen::Matrix<Scalar,3,3,Options> Matrix3;
     typedef Eigen::Matrix<Scalar,6,1,Options> Vector6;
+    typedef Eigen::Matrix<Scalar,4,4,Options> Matrix4;
     typedef Eigen::Matrix<Scalar,6,6,Options> Matrix6;
     typedef Eigen::Quaternion<Scalar,Options> Quaternion;
     typedef MotionTpl<Scalar,Options> Motion;
@@ -111,7 +112,7 @@ namespace se3
 							    rot.transpose()*(m2.trans-trans));}
       
     /* --- OPERATORS -------------------------------------------------------- */
-    operator Eigen::Matrix<Scalar,4,4,Options> () const { return toHomogeneousMatrix(); }
+    operator Matrix4() const { return toHomogeneousMatrix(); }
     operator Matrix6() const { return toActionMatrix(); }
     SE3Tpl operator*(const SE3Tpl & m2) const    { return this->act(m2); }
     friend std::ostream & operator << (std::ostream & os,const SE3Tpl & X) { X.disp(os); return os; }