Hi Raph, These methods are patched into bullet see the manifest http://www.ros.org/wiki/bullet Sorry I haven't had time to regenerate a patched version of the docs. Tully On Tue, Jan 11, 2011 at 5:42 AM, Raphael Favier wrote: > > 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 > > -- > View this message in context: > http://ros-users.122217.n3.nabble.com/tf-and-quaternions-tp2206128p2234316.html > Sent from the ROS-Users mailing list archive at Nabble.com. > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- Tully Foote Systems Engineer Willow Garage, Inc. tfoote@willowgarage.com (650) 475-2827