Class Eigen::internal::traits< QuaternionRef< _Derived > >: Maybe the Eigen::Block args should be parameters. One might want to select a column vector.
Member ow_core::AngularPositionRef< _Derived >::operator= (const tf::Quaternion &q): Maybe call a static converion function.
Member ow_core::CartesianPosition< _Scalar >::CartesianPosition (const Transform &other): : removed explicit to write things like: CartesianPosition X = Eigen::Affine3d::Identity();
Member ow_core::CartesianPosition< _Scalar >::Identity (): maby expression
Member ow_core::HomogeneousTransformation< _Scalar >::HomogeneousTransformation (const Base &other): removed explicit to write: HomogeneousTransformation T = Eigen::Affine(...);
Class ow_core::IFootTrajectoryGenerator: Remove forward declarations.
Member ow_core::IFootTrajectoryGenerator::connectInPortFootStepPlanner (const IFootStepPlannerOutPorts *fsp)=0: give specific pointer to other module ouput or the most general outport pointer?
Member ow_core::IFootTrajectoryGenerator::connectInPortForwardKinematic (const IForwardKinematicsOutPorts *fk)=0: give specific pointer to other module ouput or the most general outport pointer?
Class ow_core::IRobot: Remove forward declaration of IInverseKinematicsOutPorts.
Member ow_core::vector3EigenToVector3Msg (const Eigen::MatrixBase< _Derived > &e, geometry_msgs::Vector3 &t): odd template syntax for cast<>(): https://stackoverflow.com/questions/3786360/confusing-template-error
Member ow_core::VectorDof< _Scalar, _Rows >::Zero (): Change all Zero() etc. functions of ow types to use constant expressions, if necessary.