being 5'10 your most likely right off the shelf set up when it comes to length. But the only way to tell is by getting a fitting. Fittings are cheap or most of the time free when at a PGA, Golf Galaxy franchise store. Of course that's if your buying a set from the fitting.
I suggest you go to the store get your swing speed and lengths set up correctly so your confident in your bag. A year or two down the road you will be thankful. remember as you keep learning the game and improving your swing your speed will change to some extent.