Boost QVM

rot_q

#include <boost/qvm/q.hpp>

namespace qvm
{
    //Only enabled if:
    //  is_v<A>::value && v_traits<A>::dim==3
    template <class A>
    -unspecified-return-type- rot_q( A const & axis, typename v_traits<A>::scalar_type angle );
}

Returns:

A quaternion of unspecified type which performs a rotation around the axis at angle radians.

See also: boost/qvm/q.hpp | rotate(q,v,s) | set_rot(q,v,s)