Javadoc.

src/main/java/org/apache/commons/math4/geometry/euclidean/threed/FieldRotation.java

@@ -1155,7 +1155,7 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
     }
 
     /** Apply a rotation to a vector.
-     * @param r rotation to apply
+     * @param rot rotation to apply
      * @param u vector to apply the rotation to
      * @param <T> the type of the field elements
      * @return a new vector which is the image of u by the rotation
@@ -1252,7 +1252,7 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
     }
 
     /** Apply the inverse of a rotation to a vector.
-     * @param r rotation to apply
+     * @param rot rotation to apply
      * @param u vector to apply the inverse of the rotation to
      * @param <T> the type of the field elements
      * @return a new vector which such that u is its image by the rotation
@@ -1330,7 +1330,7 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
     /** Apply the instance to another rotation.
      * <p>
      * Calling this method is equivalent to call
-     * {@link #compose(Rotation, RotationConvention)
+     * {@link #compose(QuaternionRotation, RotationConvention)
      * compose(r, RotationConvention.VECTOR_OPERATOR)}.
      * </p>
      * @param r rotation to apply the rotation to
@@ -1370,7 +1370,7 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
     }
 
     /** Compose the instance with another rotation using vector operator convention.
-     * @param r rotation to apply the rotation to
+     * @param rot rotation to apply the rotation to
      * @return a new rotation which is the composition of r by the instance
      * using vector operator convention
      */
@@ -1389,7 +1389,7 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
      * vector and v its image by rInner (i.e. rInner.applyTo(u) = v), let w be the image
      * of v by rOuter (i.e. rOuter.applyTo(v) = w), then w = comp.applyTo(u),
      * where comp = applyTo(rOuter, rInner).
-     * @param r1 rotation to apply
+     * @param rot1 rotation to apply
      * @param rInner rotation to apply the rotation to
      * @param <T> the type of the field elements
      * @return a new rotation which is the composition of r by the instance
@@ -1465,7 +1465,7 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
     /** Apply the inverse of the instance to another rotation.
      * <p>
      * Calling this method is equivalent to call
-     * {@link #composeInverse(Rotation, RotationConvention)
+     * {@link #composeInverse(QuaternionRotation, RotationConvention)
      * composeInverse(r, RotationConvention.VECTOR_OPERATOR)}.
      * </p>
      * @param r rotation to apply the rotation to
@@ -1509,7 +1509,7 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
 
     /** Compose the inverse of the instance with another rotation
      * using vector operator convention.
-     * @param r rotation to apply the rotation to
+     * @param rot rotation to apply the rotation to
      * @return a new rotation which is the composition of r by the inverse
      * of the instance using vector operator convention
      */
@@ -1529,7 +1529,7 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
      * let w be the inverse image of v by rOuter
      * (i.e. rOuter.applyInverseTo(v) = w), then w = comp.applyTo(u), where
      * comp = applyInverseTo(rOuter, rInner).
-     * @param rOuter rotation to apply the rotation to
+     * @param rotOuter rotation to apply the rotation to
      * @param rInner rotation to apply the rotation to
      * @param <T> the type of the field elements
      * @return a new rotation which is the composition of r by the inverse

src/main/java/org/apache/commons/math4/geometry/euclidean/threed/RotationConvention.java

@@ -17,9 +17,11 @@
 
 package org.apache.commons.math4.geometry.euclidean.threed;
 
+import org.apache.commons.geometry.euclidean.threed.Vector3D;
+
 /**
  * This enumerates is used to differentiate the semantics of a rotation.
- * @see Rotation
+ * @see FieldRotation
  * @since 3.6
  */
 public enum RotationConvention {
@@ -31,10 +33,10 @@ public enum RotationConvention {
      * </p>
      * <p>
      * This means that if we define rotation r is a 90 degrees rotation around
-     * the Z axis, the image of vector {@link Cartesian3D#PLUS_I} would be
+     * the Z axis, the image of vector {@link Vector3D.Unit#PLUS_X} would be
-     * {@link Cartesian3D#PLUS_J}, the image of vector {@link Cartesian3D#PLUS_J}
+     * {@link Vector3D.Unit#PLUS_Y}, the image of vector {@link Vector3D.Unit#PLUS_Y}
-     * would be {@link Cartesian3D#MINUS_I}, the image of vector {@link Cartesian3D#PLUS_K}
+     * would be {@link Vector3D.Unit#MINUS_X}, the image of vector {@link Vector3D.Unit#PLUS_Z}
-     * would be {@link Cartesian3D#PLUS_K}, and the image of vector with coordinates (1, 2, 3)
+     * would be {@link Vector3D.Unit#PLUS_Z}, and the image of vector with coordinates (1, 2, 3)
      * would be vector (-2, 1, 3). This means that the vector rotates counterclockwise.
      * </p>
      * <p>
@@ -58,10 +60,10 @@ public enum RotationConvention {
      * </p>
      * <p>
      * This means that if we define rotation r is a 90 degrees rotation around
-     * the Z axis, the image of vector {@link Cartesian3D#PLUS_I} would be
+     * the Z axis, the image of vector {@link Vector3D.Unit#PLUS_X} would be
-     * {@link Cartesian3D#MINUS_J}, the image of vector {@link Cartesian3D#PLUS_J}
+     * {@link Vector3D.Unit#MINUS_Y}, the image of vector {@link Vector3D.Unit#PLUS_Y}
-     * would be {@link Cartesian3D#PLUS_I}, the image of vector {@link Cartesian3D#PLUS_K}
+     * would be {@link Vector3D.Unit#PLUS_X}, the image of vector {@link Vector3D.Unit#PLUS_Z}
-     * would be {@link Cartesian3D#PLUS_K}, and the image of vector with coordinates (1, 2, 3)
+     * would be {@link Vector3D.Unit#PLUS_Z}, and the image of vector with coordinates (1, 2, 3)
      * would be vector (2, -1, 3). This means that the coordinates of the vector rotates
      * clockwise, because they are expressed with respect to a destination frame that is rotated
      * counterclockwise.

src/main/java/org/apache/commons/math4/geometry/euclidean/threed/RotationOrder.java

@@ -23,11 +23,6 @@ import org.apache.commons.geometry.euclidean.threed.Vector3D;
  * This class is a utility representing a rotation order specification
  * for Cardan or Euler angles specification.
  *
- * This class cannot be instanciated by the user. He can only use one
- * of the twelve predefined supported orders as an argument to either
- * the {@link Rotation#Rotation(RotationOrder,double,double,double)}
- * constructor or the {@link Rotation#getAngles} method.
- *
  * @since 1.2
  */
 public final class RotationOrder {