# tf::Quaternion::getAngleShortestPath() or getAngle()?

Hi, when get axis-angle from tf::quaternion, which API should we use? what are difference between them? For example:

```
tf::Quaternion q;
tf::Vector3 axis = q.getAxis();
double angle_shortest = q.getAngleShortestPath();
double angle = q. getAngle();
tf::Vector3 t;
tf::Vector3 t_rotated = t.rotate(axis, angle) or
tf::Vector3 t_rotated = t.rotate(axis, angle_shortest) ?
```