class ROOT::Math::AxisAngle

 Note: We could require the angle to be in [0,pi) since we
       can represent negative angles by flipping the axis.
       We choose not to do this.

 The two conditions are that the angle is in (-pi, pi] and
 the axis is a unit vector.

Default constructor (axis is z and angle is zero)

Construct from a non-zero vector (x,y,z) and an angle.
Precondition:  the Vector needs to implement x(), y(), z(), and unit()

Construct given a pair of pointers or iterators defining the
beginning and end of an array of four Scalars, to be treated as
the x, y, and z components of a unit axis vector, and the angle
of rotation.
Precondition:  The first three components are assumed to represent
the rotation axis vector and the 4-th the rotation angle.
The angle is assumed to be in the range (-pi,pi].
The axis vector is automatically normalized to be a unit vector

 ======== Construction From other Rotation Forms ==================

Construct from another supported rotation type (see gv_detail::convert )

Assign from another supported rotation type (see gv_detail::convert )

 ======== Components ==============

Set the axis and then the angle given a pair of pointers or iterators
defining the beginning and end of an array of four Scalars.
Precondition:  The first three components are assumed to represent
the rotation axis vector and the 4-th the rotation angle.
The angle is assumed to be in the range (-pi,pi].
The axis vector is automatically normalized to be a unit vector

Get the axis and then the angle into data specified by an iterator begin
and another to the end of the desired data (4 past start).

access to rotation angle

Overload operator * for rotation on a vector

Invert an AxisAngle rotation in place

Return inverse of an AxisAngle rotation

Multiplication of an axial rotation by an AxisAngle