From 1033e145a5f5064289877a007b5fd51102f01ac5 Mon Sep 17 00:00:00 2001
From: Roman <bapstr@ethz.ch>
Date: Tue, 10 May 2016 11:48:11 +0200
Subject: [PATCH] fix some typos and better explanation of quaternion ordering

---
 matrix/Dcm.hpp        | 2 +-
 matrix/Euler.hpp      | 2 +-
 matrix/Quaternion.hpp | 4 +++-
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/matrix/Dcm.hpp b/matrix/Dcm.hpp
index 0c0e15892c..af40f85d65 100644
--- a/matrix/Dcm.hpp
+++ b/matrix/Dcm.hpp
@@ -53,7 +53,7 @@ public:
     /**
      * Constructor from array
      *
-     * @param other array
+     * @param _data pointer to array
      */
     Dcm(const Type *data_) : Matrix<Type, 3, 3>(data_)
     {
diff --git a/matrix/Euler.hpp b/matrix/Euler.hpp
index 7ac71aaf9f..14fac52aaf 100644
--- a/matrix/Euler.hpp
+++ b/matrix/Euler.hpp
@@ -136,7 +136,7 @@ public:
      * Instance is set from dcm representing transformation
      * from frame 2 to frame 1.
      *
-     * @param dcm_ dcm to set angles to
+     * @param dcm Direction cosine matrix instance to convert from.
      */
     void set_from_dcm(const Dcm<Type> & dcm)
     {
diff --git a/matrix/Quaternion.hpp b/matrix/Quaternion.hpp
index de06c4ebe7..2b5443d34a 100644
--- a/matrix/Quaternion.hpp
+++ b/matrix/Quaternion.hpp
@@ -3,7 +3,8 @@
  *
  * A quaternion instance of this class describes a rotation from
  * coordinate frame 1 to corrdinate frame 2. The first element of the quaternion
- * represents the real part.
+ * represents the real part, thus, a quaternion representing a zero-rotation
+ * is define as (1,0,0,0).
  *
  * @author James Goppert <james.goppert@gmail.com>
  */
@@ -104,6 +105,7 @@ public:
      *
      * Instance is initialized from quaternion values representing coordinate
      * transformation from frame 2 to frame 1.
+     * A zero-rotation quaternion is represented by (1,0,0,0).
      *
      * @param a set quaternion value 0
      * @param b set quaternion value 1