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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.