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You can find the documentation of this method here: http://docs.ros.org/kinetic/api/tf/html/c++/classtf_1_1Quaternion.html#ab34dfef6a01c1ece07bea92d485b0576

The implementation can be found here: (note this is the melodic branch but it is the same since indigo) https://github.com/ros/geometry/blob/melodic-devel/tf/include/tf/LinearMath/Quaternion.h#L90-L109

So basically this sets the orientation matrix given the Roll Pitch Yaw convention, which is the aeronautic convention for defining angles: https://en.wikipedia.org/wiki/Aircraft_principal_axes

You can find the documentation of this method here: http://docs.ros.org/kinetic/api/tf/html/c++/classtf_1_1Quaternion.html#ab34dfef6a01c1ece07bea92d485b0576

The implementation can be found here: (note this is the melodic branch but it is the same since indigo) https://github.com/ros/geometry/blob/melodic-devel/tf/include/tf/LinearMath/Quaternion.h#L90-L109

So basically this sets the orientation matrix given the Roll Pitch Yaw convention, which is the aeronautic convention for defining angles: https://en.wikipedia.org/wiki/Aircraft_principal_axes

You can find the documentation of this the setRPY method here: http://docs.ros.org/kinetic/api/tf/html/c++/classtf_1_1Quaternion.html#ab34dfef6a01c1ece07bea92d485b0576

The implementation can be found here: (note this is the melodic branch but it is the same since indigo) https://github.com/ros/geometry/blob/melodic-devel/tf/include/tf/LinearMath/Quaternion.h#L90-L109

So basically this sets This method modifies the orientation matrix quaternions and given the Roll Pitch Yaw convention, which is the aeronautic convention for defining angles: https://en.wikipedia.org/wiki/Aircraft_principal_axes

getRPY is the exact opposite, given a matrix you get the angles corresponding to the convention.

You can find the documentation of the setRPY method here: http://docs.ros.org/kinetic/api/tf/html/c++/classtf_1_1Quaternion.html#ab34dfef6a01c1ece07bea92d485b0576

The implementation can be found here: (note this is the melodic branch but it is the same since indigo) https://github.com/ros/geometry/blob/melodic-devel/tf/include/tf/LinearMath/Quaternion.h#L90-L109

This method modifies the quaternions and given the Roll Pitch Yaw convention, which is the aeronautic convention for defining angles: https://en.wikipedia.org/wiki/Aircraft_principal_axes

getRPY is the exact opposite, given a matrix you get the angles corresponding to the convention.convention, the implementation can be found here: https://github.com/ros/geometry/blob/melodic-devel/tf/include/tf/LinearMath/Matrix3x3.h#L360-L368