make it clear that we are using right hand rotation convention

matrix/Dcm.hpp

@@ -2,10 +2,11 @@
  * @file Dcm.hpp
  *
  * A direction cosine matrix class.
+ * All rotations and axis systems follow the right-hand rule.
  *
  * This library uses the convention that premultiplying a three dimensional
  * vector represented in coordinate system 1 will apply a rotation from coordinate system
- * 1 to coordinate system 2 to the vector. The rotation is performed following the right-hand rule.
+ * 1 to coordinate system 2 to the vector.
  * Likewise, a matrix instance of this class also represents a coordinate transformation
  * from frame 2 to frame 1.
  *

matrix/Euler.hpp

@@ -1,6 +1,8 @@
 /**
  * @file Euler.hpp
  *
+ * All rotations and axis systems follow the right-hand rule
+ *
  * An instance of this class defines a rotation from coordinate frame 1 to coordinate frame 2.
  * It follows the convention of an intrinsic tait-bryan 3-2-1 sequence.
  * In order to go from frame 1 to frame 2 we apply the following rotations consecutively.

matrix/Quaternion.hpp

@@ -1,6 +1,8 @@
 /**
  * @file Quaternion.hpp
  *
+ * All rotations and axis systems follow the right-hand rule.
+ *
  * A quaternion instance of this class describes a rotation from
  * coordinate frame 1 to coordinate frame 2. The first element of the quaternion
  * represents the real part, thus, a quaternion representing a zero-rotation