Boost C++ Libraries

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QVM: Quaternions, Vectors, Matrices

set_rot(quat,vec,scalar)

#include <boost/qvm/quat_operations.hpp>

namespace boost
{
    namespace qvm
    {
        //Only enabled if:
        //  is_quat<A>::value &&
        //  is_vec<B>::value && vec_traits<B>::dim==3
        template <class A>
        void set_rot( A & a, B const & axis, typename vec_traits<B>::scalar_type angle );
    }
}

Effects:

As if:

assign(
    a,
    rot_quat(axis,angle));