QAxisRot:

Path: Common/Quaternion

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   Creates a quaternion based on a pure rotation about the any axis.
   When the input angle is 0, q = qi.

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   Form:
   q = QAxisRot( qi, angle, u )	
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   ------
   Inputs
   ------
   qi            (4,1)  Initial quaternion from a to b
   angle         (1,1)  Angle (rad)
   u             (1,1)  Axis of rotation

   -------
   Outputs
   -------
   q             (4,1)  Quaternion a to c

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Children:

Common: Quaternion/QMult

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