transformStamped get rotation

edit

hi, when i got this code

    geometry_msgs::TransformStamped transformStamped;
        try{
          transformStamped = tfBuffer.lookupTransform("tf-a", "tf-b",
                                   ros::Time(0));
        }
        catch (tf2::TransformException &ex) {
          ROS_WARN("%s",ex.what());
          ros::Duration(1.0).sleep();
          continue;
        }
double roll, yaw,pitch;
     tf::Quaternion q();
     q = transformStamped.transform.getRotation();
     tf::Matrix3x3 m(q)
     m.getRPY(roll,yaw,pitch);

     ROS_INFO("angles in degree: roll >%f<, yaw >%f<, pitch >%f<", roll, yaw, pitch);

it returns:

  error:
 ‘geometry_msgs::TransformStamped_<std::allocator<void>
 >::_transform_type’ has no member named ‘getRotation’
       q = transformStamped.transform.getRotation();

but here http://answers.ros.org/question/19340... its used ? Also transformStamped.getRotation() does not work.

i simply want to get the angle between both tf frames in degree ? but how?

thanks

EDIT: this code works for me, if there is better way, please tell me:

 double r,y,p;
 double d1,d2,d3;
 geometry_msgs::Quaternion q = transformStamped.transform.rotation;
 tf::Quaternion tfq;
 tf::quaternionMsgToTF(q, tfq);
 tf::Matrix3x3(tfq).getEulerYPR(y,p,r);
 d1 = angles::to_degrees(y);
 d2 = angles::to_degrees(p);
 d3 = angles::to_degrees(r);
 ROS_INFO("euler-angles::to_deg y >%f<, p >%f<, r >%f<", d1, d2, d3);