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ROS coordinate frame conventions are defined here: http://wiki.ros.org/geometry/CoordinateFrameConventions
And the API methods are also documented such as here: http://docs.ros.org/hydro/api/tf/html/c++/classtf_1_1Matrix3x3.html#af2107031776762df1a0fea357b4c3747
1) It will transform first.
2) RPY is Fixed Axis XYZ
| | 2 | No.2 Revision |
ROS coordinate frame conventions are defined here: http://wiki.ros.org/geometry/CoordinateFrameConventions
And the API methods are also documented such as here: http://docs.ros.org/hydro/api/tf/html/c++/classtf_1_1Matrix3x3.html#af2107031776762df1a0fea357b4c3747
1) It will transform translate first.
2) RPY is Fixed Axis XYZ
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