Transform device orientation to world frame in objective c

Question

Hi

I'd like to transform the yaw, pitch and roll of the iPhone from the body frame to the world frame, i.e. azimuth, pitch and roll. On Android this is easily done with the SensorManager.remapCoordinateSystem(), SensorManager.getOrientation methods as detailed here: http://blog.mysticlakesoftware.com/2009/07/sensor-accelerometer-magnetics.html

Are similar methods available for the iPhone or can someone point me in the right direction how to do this transformation?

Thanks