From 25341e40f0ff686d43653862dde434fb0956755f Mon Sep 17 00:00:00 2001
From: cchillen <caseyhillenburg@live.com>
Date: Wed, 25 Aug 2021 21:54:14 -0400
Subject: [PATCH 1/2] Improve clarity of Rotation doc comments The doc comments
 for `Rotation` incorreclty refer to quaternion instead of a rotation matrix.
 No code change, purely documentation.

---
 src/geometry/rotation_construction.rs   | 12 +++++++++---
 src/geometry/rotation_specialization.rs | 10 +++++-----
 2 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/src/geometry/rotation_construction.rs b/src/geometry/rotation_construction.rs
index c18c6a58..98d0677f 100644
--- a/src/geometry/rotation_construction.rs
+++ b/src/geometry/rotation_construction.rs
@@ -15,9 +15,15 @@ where
     ///
     /// # Example
     /// ```
-    /// # use nalgebra::Quaternion;
-    /// let rot1 = Quaternion::identity();
-    /// let rot2 = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// # use nalgebra::{Rotation2, Rotation3};
+    /// let rot1 = Rotation2::identity();
+    /// let rot2 = Rotation2::new(f32::consts::FRAC_PI_2);
+    ///
+    /// assert_eq!(rot1 * rot2, rot2);
+    /// assert_eq!(rot2 * rot1, rot2);
+    ///
+    /// let rot1 = Rotation3::identity();
+    /// let rot2 = Rotation3::from_axis_angle(&Vector3::z_axis(), f32::consts::FRAC_PI_2);
     ///
     /// assert_eq!(rot1 * rot2, rot2);
     /// assert_eq!(rot2 * rot1, rot2);
diff --git a/src/geometry/rotation_specialization.rs b/src/geometry/rotation_specialization.rs
index c24514ba..41405c87 100644
--- a/src/geometry/rotation_specialization.rs
+++ b/src/geometry/rotation_specialization.rs
@@ -60,7 +60,7 @@ impl<T: SimdRealField> Rotation2<T> {
 impl<T: SimdRealField> Rotation2<T> {
     /// Builds a rotation from a basis assumed to be orthonormal.
     ///
-    /// In order to get a valid unit-quaternion, the input must be an
+    /// In order to get a valid rotation matrix, the input must be an
     /// orthonormal basis, i.e., all vectors are normalized, and the are
     /// all orthogonal to each other. These invariants are not checked
     /// by this method.
@@ -204,7 +204,7 @@ impl<T: SimdRealField> Rotation2<T> {
         *self = Self::from_matrix_eps(self.matrix(), T::default_epsilon(), 0, c.into())
     }
 
-    /// Raise the quaternion to a given floating power, i.e., returns the rotation with the angle
+    /// Raise the rotation to a given floating power, i.e., returns the rotation with the angle
     /// of `self` multiplied by `n`.
     ///
     /// # Example
@@ -660,7 +660,7 @@ where
         other * self.inverse()
     }
 
-    /// Raise the quaternion to a given floating power, i.e., returns the rotation with the same
+    /// Raise the rotation to a given floating power, i.e., returns the rotation with the same
     /// axis as `self` and an angle equal to `self.angle()` multiplied by `n`.
     ///
     /// # Example
@@ -692,7 +692,7 @@ where
 
     /// Builds a rotation from a basis assumed to be orthonormal.
     ///
-    /// In order to get a valid unit-quaternion, the input must be an
+    /// In order to get a valid rotation matrix, the input must be an
     /// orthonormal basis, i.e., all vectors are normalized, and the are
     /// all orthogonal to each other. These invariants are not checked
     /// by this method.
@@ -846,7 +846,7 @@ impl<T: SimdRealField> Rotation3<T> {
         }
     }
 
-    /// The rotation axis and angle in ]0, pi] of this unit quaternion.
+    /// The rotation axis and angle in ]0, pi] of this rotation matrix.
     ///
     /// Returns `None` if the angle is zero.
     ///

From 5b84c468406285e0685d917705635922a3acbbfb Mon Sep 17 00:00:00 2001
From: cchillen <caseyhillenburg@live.com>
Date: Sat, 28 Aug 2021 09:41:09 -0400
Subject: [PATCH 2/2] Update imports in doc example.

---
 src/geometry/rotation_construction.rs | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/geometry/rotation_construction.rs b/src/geometry/rotation_construction.rs
index 98d0677f..1fc033e4 100644
--- a/src/geometry/rotation_construction.rs
+++ b/src/geometry/rotation_construction.rs
@@ -16,14 +16,15 @@ where
     /// # Example
     /// ```
     /// # use nalgebra::{Rotation2, Rotation3};
+    /// # use nalgebra::Vector3;
     /// let rot1 = Rotation2::identity();
-    /// let rot2 = Rotation2::new(f32::consts::FRAC_PI_2);
+    /// let rot2 = Rotation2::new(std::f32::consts::FRAC_PI_2);
     ///
     /// assert_eq!(rot1 * rot2, rot2);
     /// assert_eq!(rot2 * rot1, rot2);
     ///
     /// let rot1 = Rotation3::identity();
-    /// let rot2 = Rotation3::from_axis_angle(&Vector3::z_axis(), f32::consts::FRAC_PI_2);
+    /// let rot2 = Rotation3::from_axis_angle(&Vector3::z_axis(), std::f32::consts::FRAC_PI_2);
     ///
     /// assert_eq!(rot1 * rot2, rot2);
     /// assert_eq!(rot2 * rot1, rot2);