Change transform mode from AffineCompact to Isometry (#318)

This increases the memory footprint of the `Transform` class by 33% (ie., 3x4 to 4x4). However, the X_AB.inverse() method will now implicitly use the transpose of the linear() component rather than computing an inverse.
flexible-collision-library · Aug 4, 2018 · a278363 · a278363
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -11,6 +11,7 @@
 * Math
 
   * Switched to Eigen for math operations: [#96](https://github.com/flexible-collision-library/fcl/issues/96), [#150](https://github.com/flexible-collision-library/fcl/pull/150)
+  * fcl::Transform defined to be an Isometry to facilitate inverses [#318](https://github.com/flexible-collision-library/fcl/pull/318)
 
 * Broadphase
 

diff --git a/include/fcl/common/types.h b/include/fcl/common/types.h
@@ -86,7 +86,7 @@ template <typename S>
 using Quaternion = Eigen::Quaternion<S>;
 
 template <typename S>
-using Transform3 = Eigen::Transform<S, 3, Eigen::AffineCompact>;
+using Transform3 = Eigen::Transform<S, 3, Eigen::Isometry>;
 
 template <typename S>
 using Translation3 = Eigen::Translation<S, 3>;