The docstring for yaw_pitch_rolls states as follows:
"""Get the equivalent yaw-pitch-roll angles aka. intrinsic Tait-Bryan angles following the z-y'-x'' convention
Returns:
yaw: rotation angle around the z-axis in radians, in the range `[-pi, pi]`
pitch: rotation angle around the y'-axis in radians, in the range `[-pi/2, -pi/2]`
roll: rotation angle around the x''-axis in radians, in the range `[-pi, pi]`
The resulting rotation_matrix would be R = R_x(roll) R_y(pitch) R_z(yaw)
"""
From the resulting rotation matrix formula we could see this post-multiplication implies this is extrinsic angles. I examined the results with https://github.com/ros/geometry/blob/hydro-devel/tf/src/tf/transformations.py#L1100 as well, and indeed the yaw_pitch_roll is giving values as 'szyx', which is static frame rotation, not intrinsic Tait-Bryan angles. This function should return the same result as "rzyx".
The docstring for yaw_pitch_rolls states as follows: """Get the equivalent yaw-pitch-roll angles aka. intrinsic Tait-Bryan angles following the z-y'-x'' convention
""" From the resulting rotation matrix formula we could see this post-multiplication implies this is extrinsic angles. I examined the results with https://github.com/ros/geometry/blob/hydro-devel/tf/src/tf/transformations.py#L1100 as well, and indeed the yaw_pitch_roll is giving values as 'szyx', which is static frame rotation, not intrinsic Tait-Bryan angles. This function should return the same result as "rzyx".