Hey Armin,

Good advice.

So here is the final code:

    //original frame and quaternion
    tf::Quaternion quat = transform.getRotation();
    
    //compute roll pitch yaw using KDL
    double rx, ry, rz;
    btMatrix3x3(quat).getRPY(rx, ry, rz);
    //double yaw = tf::getYaw(quat);



it works fine but I still wonder where are getRPY and getYaw defined. I
can't seem to find them in the tf nor bullet (
http://www.continuousphysics.com/Bullet/BulletFull/index.html btMatrix3*3 
or  http://www.continuousphysics.com/Bullet/BulletFull/index.html
btQuaternion  ) documentation. Any idea?


thanks for helping

Raph

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