On Tue, Jan 11, 2011 at 5:42 AM, Raphael Favier <raphael.favier@gmail.com> 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

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