# QVM: Quaternions, Vectors, Matrices

### rotate(mat,vec,scalar)

#include <boost/qvm/mat_operations.hpp>

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

#### Effects:

As if:

    a *= rot_mat<mat_traits<A>::rows>(axis,angle);

See also: boost/qvm/mat_operations.hpp