Seeking example of using quaternion class

From: yg-boost-users_at_[hidden]
Date: 2002-05-23 11:41:41

Hi,
    I am trying to use the quaternion class for 3d rotation and 
    wonder if anyone has a sample of how to do this. 
    If we have quaterion q1 and want to rotate by q2 the 
    expression, I believe, is 
    
    result = q2 * q1 * inv( q2 ). 

    Is the correct syntax using ::boost::quaternion operators 

    result = q2 *= q1 /= q2     ??

    Do the quats need to be "unit quaternions" before these operations?
    What is the best way to create an unit quat?

thanks

john ware