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https://issues.apache.org/jira/browse/MATH-1302?page=com.atlassian.jira.plugin.system.issuetabpanels:all-tabpanel
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Luc Maisonobe resolved MATH-1302.
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Resolution: Fixed
Two methods, compose and composeInverse have been added.
They both allow specifying rotation convention.
> Rotation constructor with RotationOrder and angles produces wrong rotation
> --------------------------------------------------------------------------
>
> Key: MATH-1302
> URL: https://issues.apache.org/jira/browse/MATH-1302
> Project: Commons Math
> Issue Type: Bug
> Affects Versions: 3.5
> Reporter: James Boyer
> Assignee: Luc Maisonobe
> Fix For: 3.6
>
> Original Estimate: 3h
> Remaining Estimate: 3h
>
> Rotation constructor taking (RotationOrder, double, double, double) has the
> local variable "composed" set to an incorrect rotation because the use of r1
> and r3 are swapped.
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