def rotate(self, quaternion: Quaternion) -> None:
        """
        Rotates box.
        :param quaternion: Rotation to apply.
        """
        self.center = np.dot(quaternion.rotation_matrix, self.center)
        self.orientation = quaternion * self.orientation
        self.velocity = np.dot(quaternion.rotation_matrix, self.velocity)

        Rotates box.
        :param quaternion: Rotation to apply.
        
projects/mmdet3d_plugin/core/bbox/structures/nuscenes_box.py