double r[16];
memcpy(r, JointToParentTransform.data(), JointToParentTransform.size());
std::valarray<double> j(JointToParentTransform.data(), JointToParentTransform.size());
std::vector<double>temp(JointToParentTransform.data(),JointToParentTransform.data()+JointToParentTransform.size());