From ee2219b8368992eb04b314066c616d311c2b312f Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Tue, 17 Oct 2017 08:14:02 +0200
Subject: [PATCH] Quaternion: replace conversion in rotate() with AxisAngle
 call

---
 matrix/Quaternion.hpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/matrix/Quaternion.hpp b/matrix/Quaternion.hpp
index f4a859fca9..d98051375c 100644
--- a/matrix/Quaternion.hpp
+++ b/matrix/Quaternion.hpp
@@ -330,14 +330,12 @@ public:
 
     /**
      * Rotate quaternion from rotation vector
-     * TODO replace with AxisAngle call
      *
      * @param vec rotation vector
      */
-    void rotate(const Vector<Type, 3> &vec)
+    void rotate(const AxisAngle<Type> &vec)
     {
-        Quaternion res;
-        res.from_axis_angle(vec);
+        Quaternion res(vec);
         (*this) = res * (*this);
     }