#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 );
}
}
As if:
assign( a, rot_quat(axis,angle));