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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 = R_map_cameraInit.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)

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 = R_map_cameraInit.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) 

angle_shortest)

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 = R_map_cameraInit.getAxis();
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)
angle_shortest) ?