You may think too much about that. According to empirical distribution function, the sample quantiles should be straightforward. note that the quantiles are not 1 to 1 at all. For example, if you want to get the percentile (in 10th) of weight =102.5 from data set sashelp.class... jingju
a=102.5 q=60
NOTE: There were 19 observations read from the data set SASHELP.CLASS.