I have the following MatrixXd V, representing points of a 2d shape:

```
==========================================
Bounding box vertices (AV) (Rows: 8 Cols: 3)
==========================================
[[ 2.367639937564554,  3.100420929531666,                  0]
 [ 2.367639937564554,  3.100420929531666,                  0]
 [ 2.367639937564554, -3.097445263635904,                  0]
 [ 2.367639937564554, -3.097445263635904,                  0]
 [-2.362324650030633,  3.100420929531666,                  0]
 [-2.362324650030633,  3.100420929531666,                  0]
 [-2.362324650030633, -3.097445263635904,                  0]
 [-2.362324650030633, -3.097445263635904,                  0]]

```

and I want to rotate the shape by this Matrix3d rotation matrix:

```
==========================================
RM: (RM)  (Rows: 3 Cols: 3)
==========================================
[[   0.997496638487424, -0.07071390391068358,                    0]
 [ 0.07071390391068358,    0.997496638487424,                    0]
 [                   0,                    0,                    1]]
==========================================

```

I'm not able to figure the correct way to do this... I've checked with transformations:

```
Affine3d tf = RM;
tf.rotate(V);

```

Of course this doesn't work, as Eigen reports no viable conversion from 'Eigen::Matrix3d' to 'Eigen::Affine3d'. 

In short, how do I tell Eigen to use this rotation matrix (RM) as a transformation and apply it to the target matrix (V)?

As I already have the rotation matrix, I have no reason to use quaternions...

Thank you