# QVM: Quaternions, Vectors, Matrices

### rotate(mat)

#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 );

        //Only enabled if:
        //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
        //  mat_traits<A>::rows==mat_traits<A>::cols
        template <class A,class Angle>
        void rotate_xzy( A & a, Angle x1, Angle z2, Angle y3 );

        //Only enabled if:
        //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
        //  mat_traits<A>::rows==mat_traits<A>::cols
        template <class A,class Angle>
        void rotate_xyz( A & a, Angle x1, Angle y2, Angle z3 );

        //Only enabled if:
        //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
        //  mat_traits<A>::rows==mat_traits<A>::cols
        template <class A,class Angle>
        void rotate_yxz( A & a, Angle y1, Angle x2, Angle z3 );

        //Only enabled if:
        //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
        //  mat_traits<A>::rows==mat_traits<A>::cols
        template <class A,class Angle>
        void rotate_yzx( A & a, Angle y1, Angle z2, Angle x3 );

        //Only enabled if:
        //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
        //  mat_traits<A>::rows==mat_traits<A>::cols
        template <class A,class Angle>
        void rotate_zyx( A & a, Angle z1, Angle y2, Angle x3 );

        //Only enabled if:
        //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
        //  mat_traits<A>::rows==mat_traits<A>::cols
        template <class A,class Angle>
        void rotate_zxy( A & a, Angle z1, Angle x2, Angle y3 );

        //Only enabled if:
        //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
        //  mat_traits<A>::rows==mat_traits<A>::cols
        template <class A,class Angle>
        void rotate_xzx( A & a, Angle x1, Angle z2, Angle x3 );

        //Only enabled if:
        //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
        //  mat_traits<A>::rows==mat_traits<A>::cols
        template <class A,class Angle>
        void rotate_xyx( A & a, Angle x1, Angle y2, Angle x3 );

        //Only enabled if:
        //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
        //  mat_traits<A>::rows==mat_traits<A>::cols
        template <class A,class Angle>
        void rotate_yxy( A & a, Angle y1, Angle x2, Angle y3 );

        //Only enabled if:
        //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
        //  mat_traits<A>::rows==mat_traits<A>::cols
        template <class A,class Angle>
        void rotate_yzy( A & a, Angle y1, Angle z2, Angle y3 );

        //Only enabled if:
        //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
        //  mat_traits<A>::rows==mat_traits<A>::cols
        template <class A,class Angle>
        void rotate_zyz( A & a, Angle z1, Angle y2, Angle z3 );

        //Only enabled if:
        //  is_mat<A>::value && mat_traits<A>::rows>=3 &&
        //  mat_traits<A>::rows==mat_traits<A>::cols
        template <class A,class Angle>
        void rotate_zxz( A & a, Angle z1, Angle x2, Angle z3 );
    }

#### Effects:

Multiplies the matrix a in-place by the return value of the corresponding rot_mat function.

See also: boost/qvm/mat_operations.hpp