diff --git a/crosbot/include/crosbot/geometry/quaternion.hpp b/crosbot/include/crosbot/geometry/quaternion.hpp
index c3263ca929d98570591c922a4458441016edd3e2..94b19769918fd6d07a01fff30982cf021174226b 100644
--- a/crosbot/include/crosbot/geometry/quaternion.hpp
+++ b/crosbot/include/crosbot/geometry/quaternion.hpp
@@ -125,27 +125,6 @@ inline std::ostream& operator<<(std::ostream& os, const Quaternion& q) {
     return os << "Quaternion(" << q.x << ", " << q.y << ", " << q.z <<", " << q.w << ")";
 }
 
-/**
- * Getter and setter methods for roll, pitch and yaw in a quaternion.
- */
-//inline void getRPY(const geometry_msgs::Quaternion& q, double& roll, double& pitch, double& yaw) {
-//    btQuaternion btq(q.x, q.y, q.z, q.w);
-////    btMatrix3x3(btq).getRPY(roll, pitch, yaw);
-//    btMatrix3x3(btq).getEulerYPR(yaw, pitch, roll);
-//}
-//
-//inline void setRPY(geometry_msgs::Quaternion& q, const double& roll, const double& pitch, const double& yaw) {
-//    btQuaternion btq;
-//    btMatrix3x3 mat;
-//    mat.setEulerYPR(yaw, pitch, roll);
-//    mat.getRotation(btq);
-//
-//    q.x = btq.x();
-//    q.y = btq.y();
-//    q.z = btq.z();
-//    q.w = btq.w();
-//}
-
 } // namespace crosbot