Add conversions from OSG to Eigen rigid transform taking the std::pair of osg::Quat and osg::Vec3d to match the output of conversion from Eigen to OSG.
Add conversions from OSG to Eigen rigid transform taking the std::pair of osg::Quat and osg::Vec3d to match the output of conversion from Eigen to OSG.

simquest/opensurgsim,simquest/opensurgsim,simquest/opensurgsim,simquest/opensurgsim