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From l..@apache.org
Subject [1/2] [math] Added compose and composeInverse to rotations.
Date Sun, 27 Dec 2015 12:10:26 GMT
Repository: commons-math
Updated Branches:
  refs/heads/MATH_3_X 2d0d2ff14 -> 82e1a8cd0


Added compose and composeInverse to rotations.

These method are more flexible than the existing applyTo and
applyInverseTo (which are still present), because they allow caller
to specify a RotationConvention.

JIRA: MATH-1302, MATH-1303
Github: closes #22

Project: http://git-wip-us.apache.org/repos/asf/commons-math/repo
Commit: http://git-wip-us.apache.org/repos/asf/commons-math/commit/7db19f7d
Tree: http://git-wip-us.apache.org/repos/asf/commons-math/tree/7db19f7d
Diff: http://git-wip-us.apache.org/repos/asf/commons-math/diff/7db19f7d

Branch: refs/heads/MATH_3_X
Commit: 7db19f7d9c86b5c6ac30fba60b1a0bf85f7424e4
Parents: 971a778
Author: Luc Maisonobe <luc@apache.org>
Authored: Sun Dec 27 13:04:55 2015 +0100
Committer: Luc Maisonobe <luc@apache.org>
Committed: Sun Dec 27 13:04:55 2015 +0100

----------------------------------------------------------------------
 .../euclidean/threed/FieldRotation.java         | 217 ++++++++++++--
 .../geometry/euclidean/threed/Rotation.java     | 182 +++++++-----
 src/site/xdoc/userguide/geometry.xml            |   8 +-
 .../euclidean/threed/FieldRotationDSTest.java   | 284 ++++++++++++++++++-
 .../euclidean/threed/FieldRotationDfpTest.java  | 166 ++++++++++-
 .../geometry/euclidean/threed/RotationTest.java | 112 +++++++-
 6 files changed, 846 insertions(+), 123 deletions(-)
----------------------------------------------------------------------


http://git-wip-us.apache.org/repos/asf/commons-math/blob/7db19f7d/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotation.java
----------------------------------------------------------------------
diff --git a/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotation.java b/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotation.java
index 230ecbc..51aeadc 100644
--- a/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotation.java
+++ b/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotation.java
@@ -363,7 +363,8 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
      * widespread in the aerospace business where Roll, Pitch and Yaw angles
      * are often wrongly tagged as Euler angles).</p>
 
-     * @param order order of rotations to use
+     * @param order order of rotations to compose, from left to right
+     * (i.e. we will use {@code r1.compose(r2.compose(r3, convention), convention)})
      * @param convention convention to use for the semantics of the angle
      * @param alpha1 angle of the first elementary rotation
      * @param alpha2 angle of the second elementary rotation
@@ -376,9 +377,7 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
         final FieldRotation<T> r1 = new FieldRotation<T>(new FieldVector3D<T>(one, order.getA1()), alpha1, convention);
         final FieldRotation<T> r2 = new FieldRotation<T>(new FieldVector3D<T>(one, order.getA2()), alpha2, convention);
         final FieldRotation<T> r3 = new FieldRotation<T>(new FieldVector3D<T>(one, order.getA3()), alpha3, convention);
-        final FieldRotation<T> composed = convention == RotationConvention.FRAME_TRANSFORM ?
-                                          r3.applyTo(r2.applyTo(r1)) :
-                                          r1.applyTo(r2.applyTo(r3));
+        final FieldRotation<T> composed = r1.compose(r2.compose(r3, convention), convention);
         q0 = composed.q0;
         q1 = composed.q1;
         q2 = composed.q2;
@@ -1271,15 +1270,53 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
     }
 
     /** Apply the instance to another rotation.
-     * Applying the instance to a rotation is computing the composition
-     * in an order compliant with the following rule : let u be any
-     * vector and v its image by r (i.e. r.applyTo(u) = v), let w be the image
-     * of v by the instance (i.e. applyTo(v) = w), then w = comp.applyTo(u),
-     * where comp = applyTo(r).
+     * <p>
+     * Calling this method is equivalent to call
+     * {@link #compose(FieldRotation, RotationConvention)
+     * compose(r, RotationConvention.VECTOR_OPERATOR)}.
+     * </p>
      * @param r rotation to apply the rotation to
      * @return a new rotation which is the composition of r by the instance
      */
     public FieldRotation<T> applyTo(final FieldRotation<T> r) {
+        return compose(r, RotationConvention.VECTOR_OPERATOR);
+    }
+
+    /** Compose the instance with another rotation.
+     * <p>
+     * If the semantics of the rotations composition corresponds to a
+     * {@link RotationConvention#VECTOR_OPERATOR vector operator} convention,
+     * applying the instance to a rotation is computing the composition
+     * in an order compliant with the following rule : let {@code u} be any
+     * vector and {@code v} its image by {@code r1} (i.e.
+     * {@code r1.applyTo(u) = v}). Let {@code w} be the image of {@code v} by
+     * rotation {@code r2} (i.e. {@code r2.applyTo(v) = w}). Then
+     * {@code w = comp.applyTo(u)}, where
+     * {@code comp = r2.compose(r1, RotationConvention.VECTOR_OPERATOR)}.
+     * </p>
+     * <p>
+     * If the semantics of the rotations composition corresponds to a
+     * {@link RotationConvention#FRAME_TRANSFORM frame transform} convention,
+     * the application order will be reversed. So keeping the exact same
+     * meaning of all {@code r1}, {@code r2}, {@code u}, {@code v}, {@code w}
+     * and  {@code comp} as above, {@code comp} could also be computed as
+     * {@code comp = r1.compose(r2, RotationConvention.FRAME_TRANSFORM)}.
+     * </p>
+     * @param r rotation to apply the rotation to
+     * @param convention convention to use for the semantics of the angle
+     * @return a new rotation which is the composition of r by the instance
+     */
+    public FieldRotation<T> compose(final FieldRotation<T> r, final RotationConvention convention) {
+        return convention == RotationConvention.VECTOR_OPERATOR ?
+                             composeInternal(r) : r.composeInternal(this);
+    }
+
+    /** Compose the instance with another rotation using vector operator convention.
+     * @param r rotation to apply the rotation to
+     * @return a new rotation which is the composition of r by the instance
+     * using vector operator convention
+     */
+    private FieldRotation<T> composeInternal(final FieldRotation<T> r) {
         return new FieldRotation<T>(r.q0.multiply(q0).subtract(r.q1.multiply(q1).add(r.q2.multiply(q2)).add(r.q3.multiply(q3))),
                                     r.q1.multiply(q0).add(r.q0.multiply(q1)).add(r.q2.multiply(q3).subtract(r.q3.multiply(q2))),
                                     r.q2.multiply(q0).add(r.q0.multiply(q2)).add(r.q3.multiply(q1).subtract(r.q1.multiply(q3))),
@@ -1288,20 +1325,58 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
     }
 
     /** Apply the instance to another rotation.
-     * Applying the instance to a rotation is computing the composition
-     * in an order compliant with the following rule : let u be any
-     * vector and v its image by r (i.e. r.applyTo(u) = v), let w be the image
-     * of v by the instance (i.e. applyTo(v) = w), then w = comp.applyTo(u),
-     * where comp = applyTo(r).
+     * <p>
+     * Calling this method is equivalent to call
+     * {@link #compose(Rotation, RotationConvention)
+     * compose(r, RotationConvention.VECTOR_OPERATOR)}.
+     * </p>
      * @param r rotation to apply the rotation to
      * @return a new rotation which is the composition of r by the instance
      */
     public FieldRotation<T> applyTo(final Rotation r) {
+        return compose(r, RotationConvention.VECTOR_OPERATOR);
+    }
+
+    /** Compose the instance with another rotation.
+     * <p>
+     * If the semantics of the rotations composition corresponds to a
+     * {@link RotationConvention#VECTOR_OPERATOR vector operator} convention,
+     * applying the instance to a rotation is computing the composition
+     * in an order compliant with the following rule : let {@code u} be any
+     * vector and {@code v} its image by {@code r1} (i.e.
+     * {@code r1.applyTo(u) = v}). Let {@code w} be the image of {@code v} by
+     * rotation {@code r2} (i.e. {@code r2.applyTo(v) = w}). Then
+     * {@code w = comp.applyTo(u)}, where
+     * {@code comp = r2.compose(r1, RotationConvention.VECTOR_OPERATOR)}.
+     * </p>
+     * <p>
+     * If the semantics of the rotations composition corresponds to a
+     * {@link RotationConvention#FRAME_TRANSFORM frame transform} convention,
+     * the application order will be reversed. So keeping the exact same
+     * meaning of all {@code r1}, {@code r2}, {@code u}, {@code v}, {@code w}
+     * and  {@code comp} as above, {@code comp} could also be computed as
+     * {@code comp = r1.compose(r2, RotationConvention.FRAME_TRANSFORM)}.
+     * </p>
+     * @param r rotation to apply the rotation to
+     * @param convention convention to use for the semantics of the angle
+     * @return a new rotation which is the composition of r by the instance
+     */
+    public FieldRotation<T> compose(final Rotation r, final RotationConvention convention) {
+        return convention == RotationConvention.VECTOR_OPERATOR ?
+                             composeInternal(r) : applyTo(r, this);
+    }
+
+    /** Compose the instance with another rotation using vector operator convention.
+     * @param r rotation to apply the rotation to
+     * @return a new rotation which is the composition of r by the instance
+     * using vector operator convention
+     */
+    private FieldRotation<T> composeInternal(final Rotation r) {
         return new FieldRotation<T>(q0.multiply(r.getQ0()).subtract(q1.multiply(r.getQ1()).add(q2.multiply(r.getQ2())).add(q3.multiply(r.getQ3()))),
-                                    q0.multiply(r.getQ1()).add(q1.multiply(r.getQ0())).add(q3.multiply(r.getQ2()).subtract(q2.multiply(r.getQ3()))),
-                                    q0.multiply(r.getQ2()).add(q2.multiply(r.getQ0())).add(q1.multiply(r.getQ3()).subtract(q3.multiply(r.getQ1()))),
-                                    q0.multiply(r.getQ3()).add(q3.multiply(r.getQ0())).add(q2.multiply(r.getQ1()).subtract(q1.multiply(r.getQ2()))),
-                                    false);
+                        q0.multiply(r.getQ1()).add(q1.multiply(r.getQ0())).add(q3.multiply(r.getQ2()).subtract(q2.multiply(r.getQ3()))),
+                        q0.multiply(r.getQ2()).add(q2.multiply(r.getQ0())).add(q1.multiply(r.getQ3()).subtract(q3.multiply(r.getQ1()))),
+                        q0.multiply(r.getQ3()).add(q3.multiply(r.getQ0())).add(q2.multiply(r.getQ1()).subtract(q1.multiply(r.getQ2()))),
+                        false);
     }
 
     /** Apply a rotation to another rotation.
@@ -1324,17 +1399,57 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
     }
 
     /** Apply the inverse of the instance to another rotation.
-     * Applying the inverse of the instance to a rotation is computing
-     * the composition in an order compliant with the following rule :
-     * let u be any vector and v its image by r (i.e. r.applyTo(u) = v),
-     * let w be the inverse image of v by the instance
-     * (i.e. applyInverseTo(v) = w), then w = comp.applyTo(u), where
-     * comp = applyInverseTo(r).
+     * <p>
+     * Calling this method is equivalent to call
+     * {@link #composeInverse(FieldRotation<T>, RotationConvention)
+     * composeInverse(r, RotationConvention.VECTOR_OPERATOR)}.
+     * </p>
      * @param r rotation to apply the rotation to
      * @return a new rotation which is the composition of r by the inverse
      * of the instance
      */
     public FieldRotation<T> applyInverseTo(final FieldRotation<T> r) {
+        return composeInverse(r, RotationConvention.VECTOR_OPERATOR);
+    }
+
+    /** Compose the inverse of the instance with another rotation.
+     * <p>
+     * If the semantics of the rotations composition corresponds to a
+     * {@link RotationConvention#VECTOR_OPERATOR vector operator} convention,
+     * applying the inverse of the instance to a rotation is computing
+     * the composition in an order compliant with the following rule :
+     * let {@code u} be any vector and {@code v} its image by {@code r1}
+     * (i.e. {@code r1.applyTo(u) = v}). Let {@code w} be the inverse image
+     * of {@code v} by {@code r2} (i.e. {@code r2.applyInverseTo(v) = w}).
+     * Then {@code w = comp.applyTo(u)}, where
+     * {@code comp = r2.composeInverse(r1)}.
+     * </p>
+     * <p>
+     * If the semantics of the rotations composition corresponds to a
+     * {@link RotationConvention#FRAME_TRANSFORM frame transform} convention,
+     * the application order will be reversed, which means it is the
+     * <em>innermost</em> rotation that will be reversed. So keeping the exact same
+     * meaning of all {@code r1}, {@code r2}, {@code u}, {@code v}, {@code w}
+     * and  {@code comp} as above, {@code comp} could also be computed as
+     * {@code comp = r1.revert().composeInverse(r2.revert(), RotationConvention.FRAME_TRANSFORM)}.
+     * </p>
+     * @param r rotation to apply the rotation to
+     * @param convention convention to use for the semantics of the angle
+     * @return a new rotation which is the composition of r by the inverse
+     * of the instance
+     */
+    public FieldRotation<T> composeInverse(final FieldRotation<T> r, final RotationConvention convention) {
+        return convention == RotationConvention.VECTOR_OPERATOR ?
+                             composeInverseInternal(r) : r.composeInternal(revert());
+    }
+
+    /** Compose the inverse of the instance with another rotation
+     * using vector operator convention.
+     * @param r 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
+     */
+    private FieldRotation<T> composeInverseInternal(FieldRotation<T> r) {
         return new FieldRotation<T>(r.q0.multiply(q0).add(r.q1.multiply(q1).add(r.q2.multiply(q2)).add(r.q3.multiply(q3))).negate(),
                                     r.q0.multiply(q1).add(r.q2.multiply(q3).subtract(r.q3.multiply(q2))).subtract(r.q1.multiply(q0)),
                                     r.q0.multiply(q2).add(r.q3.multiply(q1).subtract(r.q1.multiply(q3))).subtract(r.q2.multiply(q0)),
@@ -1343,17 +1458,57 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
     }
 
     /** Apply the inverse of the instance to another rotation.
-     * Applying the inverse of the instance to a rotation is computing
-     * the composition in an order compliant with the following rule :
-     * let u be any vector and v its image by r (i.e. r.applyTo(u) = v),
-     * let w be the inverse image of v by the instance
-     * (i.e. applyInverseTo(v) = w), then w = comp.applyTo(u), where
-     * comp = applyInverseTo(r).
+     * <p>
+     * Calling this method is equivalent to call
+     * {@link #composeInverse(Rotation, RotationConvention)
+     * composeInverse(r, RotationConvention.VECTOR_OPERATOR)}.
+     * </p>
      * @param r rotation to apply the rotation to
      * @return a new rotation which is the composition of r by the inverse
      * of the instance
      */
     public FieldRotation<T> applyInverseTo(final Rotation r) {
+        return composeInverse(r, RotationConvention.VECTOR_OPERATOR);
+    }
+
+    /** Compose the inverse of the instance with another rotation.
+     * <p>
+     * If the semantics of the rotations composition corresponds to a
+     * {@link RotationConvention#VECTOR_OPERATOR vector operator} convention,
+     * applying the inverse of the instance to a rotation is computing
+     * the composition in an order compliant with the following rule :
+     * let {@code u} be any vector and {@code v} its image by {@code r1}
+     * (i.e. {@code r1.applyTo(u) = v}). Let {@code w} be the inverse image
+     * of {@code v} by {@code r2} (i.e. {@code r2.applyInverseTo(v) = w}).
+     * Then {@code w = comp.applyTo(u)}, where
+     * {@code comp = r2.composeInverse(r1)}.
+     * </p>
+     * <p>
+     * If the semantics of the rotations composition corresponds to a
+     * {@link RotationConvention#FRAME_TRANSFORM frame transform} convention,
+     * the application order will be reversed, which means it is the
+     * <em>innermost</em> rotation that will be reversed. So keeping the exact same
+     * meaning of all {@code r1}, {@code r2}, {@code u}, {@code v}, {@code w}
+     * and  {@code comp} as above, {@code comp} could also be computed as
+     * {@code comp = r1.revert().composeInverse(r2.revert(), RotationConvention.FRAME_TRANSFORM)}.
+     * </p>
+     * @param r rotation to apply the rotation to
+     * @param convention convention to use for the semantics of the angle
+     * @return a new rotation which is the composition of r by the inverse
+     * of the instance
+     */
+    public FieldRotation<T> composeInverse(final Rotation r, final RotationConvention convention) {
+        return convention == RotationConvention.VECTOR_OPERATOR ?
+                             composeInverseInternal(r) : applyTo(r, revert());
+    }
+
+    /** Compose the inverse of the instance with another rotation
+     * using vector operator convention.
+     * @param r 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
+     */
+    private FieldRotation<T> composeInverseInternal(Rotation r) {
         return new FieldRotation<T>(q0.multiply(r.getQ0()).add(q1.multiply(r.getQ1()).add(q2.multiply(r.getQ2())).add(q3.multiply(r.getQ3()))).negate(),
                                     q1.multiply(r.getQ0()).add(q3.multiply(r.getQ2()).subtract(q2.multiply(r.getQ3()))).subtract(q0.multiply(r.getQ1())),
                                     q2.multiply(r.getQ0()).add(q1.multiply(r.getQ3()).subtract(q3.multiply(r.getQ1()))).subtract(q0.multiply(r.getQ2())),
@@ -1502,7 +1657,7 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
      * @return <i>distance</i> between r1 and r2
      */
     public static <T extends RealFieldElement<T>> T distance(final FieldRotation<T> r1, final FieldRotation<T> r2) {
-        return r1.applyInverseTo(r2).getAngle();
+        return r1.composeInverseInternal(r2).getAngle();
     }
 
 }

http://git-wip-us.apache.org/repos/asf/commons-math/blob/7db19f7d/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/Rotation.java
----------------------------------------------------------------------
diff --git a/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/Rotation.java b/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/Rotation.java
index e772ecb..f4df3b5 100644
--- a/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/Rotation.java
+++ b/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/Rotation.java
@@ -151,22 +151,11 @@ public class Rotation implements Serializable {
   }
 
   /** Build a rotation from an axis and an angle.
-   * <p>We use the convention that angles are oriented according to
-   * the effect of the rotation on vectors around the axis. That means
-   * that if (i, j, k) is a direct frame and if we first provide +k as
-   * the axis and &pi;/2 as the angle to this constructor, and then
-   * {@link #applyTo(Vector3D) apply} the instance to +i, we will get
-   * +j.</p>
-   * <p>Another way to represent our convention is to say that a rotation
-   * of angle &theta; about the unit vector (x, y, z) is the same as the
-   * rotation build from quaternion components { cos(-&theta;/2),
-   * x * sin(-&theta;/2), y * sin(-&theta;/2), z * sin(-&theta;/2) }.
-   * Note the minus sign on the angle!</p>
-   * <p>On the one hand this convention is consistent with a vectorial
-   * perspective (moving vectors in fixed frames), on the other hand it
-   * is different from conventions with a frame perspective (fixed vectors
-   * viewed from different frames) like the ones used for example in spacecraft
-   * attitude community or in the graphics community.</p>
+   * <p>
+   * Calling this constructor is equivalent to call
+   * {@link #Rotation(Vector3D, double, RotationConvention)
+   * new Rotation(axis, angle, RotationConvention.VECTOR_OPERATOR)}
+   * </p>
    * @param axis axis around which to rotate
    * @param angle rotation angle.
    * @exception MathIllegalArgumentException if the axis norm is zero
@@ -370,17 +359,11 @@ public class Rotation implements Serializable {
 
   /** Build a rotation from three Cardan or Euler elementary rotations.
 
-   * <p>Cardan rotations are three successive rotations around the
-   * canonical axes X, Y and Z, each axis being used once. There are
-   * 6 such sets of rotations (XYZ, XZY, YXZ, YZX, ZXY and ZYX). Euler
-   * rotations are three successive rotations around the canonical
-   * axes X, Y and Z, the first and last rotations being around the
-   * same axis. There are 6 such sets of rotations (XYX, XZX, YXY,
-   * YZY, ZXZ and ZYZ), the most popular one being ZXZ.</p>
-   * <p>Beware that many people routinely use the term Euler angles even
-   * for what really are Cardan angles (this confusion is especially
-   * widespread in the aerospace business where Roll, Pitch and Yaw angles
-   * are often wrongly tagged as Euler angles).</p>
+   * <p>
+   * Calling this constructor is equivalent to call
+   * {@link #Rotation(RotationOrder, RotationConvention, double, double, double)
+   * new Rotation(order, RotationConvention.VECTOR_OPERATOR, alpha1, alpha2, alpha3)}
+   * </p>
 
    * @param order order of rotations to use
    * @param alpha1 angle of the first elementary rotation
@@ -409,7 +392,8 @@ public class Rotation implements Serializable {
    * widespread in the aerospace business where Roll, Pitch and Yaw angles
    * are often wrongly tagged as Euler angles).</p>
 
-   * @param order order of rotations to use
+   * @param order order of rotations to compose, from left to right
+   * (i.e. we will use {@code r1.compose(r2.compose(r3, convention), convention)})
    * @param convention convention to use for the semantics of the angle
    * @param alpha1 angle of the first elementary rotation
    * @param alpha2 angle of the second elementary rotation
@@ -421,9 +405,7 @@ public class Rotation implements Serializable {
       Rotation r1 = new Rotation(order.getA1(), alpha1, convention);
       Rotation r2 = new Rotation(order.getA2(), alpha2, convention);
       Rotation r3 = new Rotation(order.getA3(), alpha3, convention);
-      Rotation composed = convention == RotationConvention.FRAME_TRANSFORM ?
-                          r3.applyTo(r2.applyTo(r1)) :
-                          r1.applyTo(r2.applyTo(r3));
+      Rotation composed = r1.compose(r2.compose(r3, convention), convention);
       q0 = composed.q0;
       q1 = composed.q1;
       q2 = composed.q2;
@@ -531,6 +513,10 @@ public class Rotation implements Serializable {
   }
 
   /** Get the normalized axis of the rotation.
+   * <p>
+   * Calling this method is equivalent to call
+   * {@link #getAxis(RotationConvention) getAxis(RotationConvention.VECTOR_OPERATOR)}
+   * </p>
    * @return normalized axis of the rotation
    * @see #Rotation(Vector3D, double, RotationConvention)
    * @deprecated as of 3.6, replaced with {@link #getAxis(RotationConvention)}
@@ -581,33 +567,11 @@ public class Rotation implements Serializable {
 
   /** Get the Cardan or Euler angles corresponding to the instance.
 
-   * <p>The equations show that each rotation can be defined by two
-   * different values of the Cardan or Euler angles set. For example
-   * if Cardan angles are used, the rotation defined by the angles
-   * a<sub>1</sub>, a<sub>2</sub> and a<sub>3</sub> is the same as
-   * the rotation defined by the angles &pi; + a<sub>1</sub>, &pi;
-   * - a<sub>2</sub> and &pi; + a<sub>3</sub>. This method implements
-   * the following arbitrary choices:</p>
-   * <ul>
-   *   <li>for Cardan angles, the chosen set is the one for which the
-   *   second angle is between -&pi;/2 and &pi;/2 (i.e its cosine is
-   *   positive),</li>
-   *   <li>for Euler angles, the chosen set is the one for which the
-   *   second angle is between 0 and &pi; (i.e its sine is positive).</li>
-   * </ul>
-
-   * <p>Cardan and Euler angle have a very disappointing drawback: all
-   * of them have singularities. This means that if the instance is
-   * too close to the singularities corresponding to the given
-   * rotation order, it will be impossible to retrieve the angles. For
-   * Cardan angles, this is often called gimbal lock. There is
-   * <em>nothing</em> to do to prevent this, it is an intrinsic problem
-   * with Cardan and Euler representation (but not a problem with the
-   * rotation itself, which is perfectly well defined). For Cardan
-   * angles, singularities occur when the second angle is close to
-   * -&pi;/2 or +&pi;/2, for Euler angle singularities occur when the
-   * second angle is close to 0 or &pi;, this implies that the identity
-   * rotation is always singular for Euler angles!</p>
+   * <p>
+   * Calling this method is equivalent to call
+   * {@link #getAngles(RotationOrder, RotationConvention)
+   * getAngles(order, RotationConvention.VECTOR_OPERATOR)}
+   * </p>
 
    * @param order rotation order to use
    * @return an array of three angles, in the order specified by the set
@@ -1217,15 +1181,53 @@ public class Rotation implements Serializable {
   }
 
   /** Apply the instance to another rotation.
-   * Applying the instance to a rotation is computing the composition
-   * in an order compliant with the following rule : let u be any
-   * vector and v its image by r (i.e. r.applyTo(u) = v), let w be the image
-   * of v by the instance (i.e. applyTo(v) = w), then w = comp.applyTo(u),
-   * where comp = applyTo(r).
+   * <p>
+   * Calling this method is equivalent to call
+   * {@link #compose(Rotation, RotationConvention)
+   * compose(r, RotationConvention.VECTOR_OPERATOR)}.
+   * </p>
    * @param r rotation to apply the rotation to
    * @return a new rotation which is the composition of r by the instance
    */
   public Rotation applyTo(Rotation r) {
+    return compose(r, RotationConvention.VECTOR_OPERATOR);
+  }
+
+  /** Compose the instance with another rotation.
+   * <p>
+   * If the semantics of the rotations composition corresponds to a
+   * {@link RotationConvention#VECTOR_OPERATOR vector operator} convention,
+   * applying the instance to a rotation is computing the composition
+   * in an order compliant with the following rule : let {@code u} be any
+   * vector and {@code v} its image by {@code r1} (i.e.
+   * {@code r1.applyTo(u) = v}). Let {@code w} be the image of {@code v} by
+   * rotation {@code r2} (i.e. {@code r2.applyTo(v) = w}). Then
+   * {@code w = comp.applyTo(u)}, where
+   * {@code comp = r2.compose(r1, RotationConvention.VECTOR_OPERATOR)}.
+   * </p>
+   * <p>
+   * If the semantics of the rotations composition corresponds to a
+   * {@link RotationConvention#FRAME_TRANSFORM frame transform} convention,
+   * the application order will be reversed. So keeping the exact same
+   * meaning of all {@code r1}, {@code r2}, {@code u}, {@code v}, {@code w}
+   * and  {@code comp} as above, {@code comp} could also be computed as
+   * {@code comp = r1.compose(r2, RotationConvention.FRAME_TRANSFORM)}.
+   * </p>
+   * @param r rotation to apply the rotation to
+   * @param convention convention to use for the semantics of the angle
+   * @return a new rotation which is the composition of r by the instance
+   */
+  public Rotation compose(final Rotation r, final RotationConvention convention) {
+    return convention == RotationConvention.VECTOR_OPERATOR ?
+           composeInternal(r) : r.composeInternal(this);
+  }
+
+  /** Compose the instance with another rotation using vector operator convention.
+   * @param r rotation to apply the rotation to
+   * @return a new rotation which is the composition of r by the instance
+   * using vector operator convention
+   */
+  private Rotation composeInternal(final Rotation r) {
     return new Rotation(r.q0 * q0 - (r.q1 * q1 + r.q2 * q2 + r.q3 * q3),
                         r.q1 * q0 + r.q0 * q1 + (r.q2 * q3 - r.q3 * q2),
                         r.q2 * q0 + r.q0 * q2 + (r.q3 * q1 - r.q1 * q3),
@@ -1234,17 +1236,57 @@ public class Rotation implements Serializable {
   }
 
   /** Apply the inverse of the instance to another rotation.
-   * Applying the inverse of the instance to a rotation is computing
-   * the composition in an order compliant with the following rule :
-   * let u be any vector and v its image by r (i.e. r.applyTo(u) = v),
-   * let w be the inverse image of v by the instance
-   * (i.e. applyInverseTo(v) = w), then w = comp.applyTo(u), where
-   * comp = applyInverseTo(r).
+   * <p>
+   * Calling this method is equivalent to call
+   * {@link #composeInverse(Rotation, RotationConvention)
+   * composeInverse(r, RotationConvention.VECTOR_OPERATOR)}.
+   * </p>
    * @param r rotation to apply the rotation to
    * @return a new rotation which is the composition of r by the inverse
    * of the instance
    */
   public Rotation applyInverseTo(Rotation r) {
+    return composeInverse(r, RotationConvention.VECTOR_OPERATOR);
+  }
+
+  /** Compose the inverse of the instance with another rotation.
+   * <p>
+   * If the semantics of the rotations composition corresponds to a
+   * {@link RotationConvention#VECTOR_OPERATOR vector operator} convention,
+   * applying the inverse of the instance to a rotation is computing
+   * the composition in an order compliant with the following rule :
+   * let {@code u} be any vector and {@code v} its image by {@code r1}
+   * (i.e. {@code r1.applyTo(u) = v}). Let {@code w} be the inverse image
+   * of {@code v} by {@code r2} (i.e. {@code r2.applyInverseTo(v) = w}).
+   * Then {@code w = comp.applyTo(u)}, where
+   * {@code comp = r2.composeInverse(r1)}.
+   * </p>
+   * <p>
+   * If the semantics of the rotations composition corresponds to a
+   * {@link RotationConvention#FRAME_TRANSFORM frame transform} convention,
+   * the application order will be reversed, which means it is the
+   * <em>innermost</em> rotation that will be reversed. So keeping the exact same
+   * meaning of all {@code r1}, {@code r2}, {@code u}, {@code v}, {@code w}
+   * and  {@code comp} as above, {@code comp} could also be computed as
+   * {@code comp = r1.revert().composeInverse(r2.revert(), RotationConvention.FRAME_TRANSFORM)}.
+   * </p>
+   * @param r rotation to apply the rotation to
+   * @param convention convention to use for the semantics of the angle
+   * @return a new rotation which is the composition of r by the inverse
+   * of the instance
+   */
+  public Rotation composeInverse(final Rotation r, final RotationConvention convention) {
+    return convention == RotationConvention.VECTOR_OPERATOR ?
+           composeInverseInternal(r) : r.composeInternal(revert());
+  }
+
+  /** Compose the inverse of the instance with another rotation
+   * using vector operator convention.
+   * @param r 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
+   */
+  private Rotation composeInverseInternal(Rotation r) {
     return new Rotation(-r.q0 * q0 - (r.q1 * q1 + r.q2 * q2 + r.q3 * q3),
                         -r.q1 * q0 + r.q0 * q1 + (r.q2 * q3 - r.q3 * q2),
                         -r.q2 * q0 + r.q0 * q2 + (r.q3 * q1 - r.q1 * q3),
@@ -1376,7 +1418,7 @@ public class Rotation implements Serializable {
    * @return <i>distance</i> between r1 and r2
    */
   public static double distance(Rotation r1, Rotation r2) {
-      return r1.applyInverseTo(r2).getAngle();
+      return r1.composeInverseInternal(r2).getAngle();
   }
 
 }

http://git-wip-us.apache.org/repos/asf/commons-math/blob/7db19f7d/src/site/xdoc/userguide/geometry.xml
----------------------------------------------------------------------
diff --git a/src/site/xdoc/userguide/geometry.xml b/src/site/xdoc/userguide/geometry.xml
index 870f635..27bebf2 100644
--- a/src/site/xdoc/userguide/geometry.xml
+++ b/src/site/xdoc/userguide/geometry.xml
@@ -187,8 +187,12 @@
           previous notations, we would say we can apply <code>r<sub>1</sub></code> to
           <code>r<sub>2</sub></code> and the result we get is <code>r =
           r<sub>1</sub> o r<sub>2</sub></code>. For this purpose, the class
-          provides the methods: <code>applyTo(Rotation)</code> and
-          <code>applyInverseTo(Rotation)</code>.
+          provides the methods: <code>compose(Rotation, RotationConvention)</code> and
+          <code>composeInverse(Rotation, RotationConvention)</code>. There are also
+          shortcuts <code>applyTo(Rotation)</code> which is equivalent to
+          <code>compose(Rotation, RotationConvention.VECTOR_OPERATOR)</code> and
+          <code>applyInverseTo(Rotation)</code> which is equivalent to
+          <code>composeInverse(Rotation, RotationConvention.VECTOR_OPERATOR)</code>.
         </p>
       </subsection>
       <subsection name="11.3 n-Sphere" href="sphere">

http://git-wip-us.apache.org/repos/asf/commons-math/blob/7db19f7d/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotationDSTest.java
----------------------------------------------------------------------
diff --git a/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotationDSTest.java b/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotationDSTest.java
index d845b7d..198d1b3 100644
--- a/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotationDSTest.java
+++ b/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotationDSTest.java
@@ -240,6 +240,150 @@ public class FieldRotationDSTest {
     }
 
     @Test
+    public void testRevertVectorOperator() {
+        double a = 0.001;
+        double b = 0.36;
+        double c = 0.48;
+        double d = 0.8;
+        FieldRotation<DerivativeStructure> r = createRotation(a, b, c, d, true);
+        double a2 = a * a;
+        double b2 = b * b;
+        double c2 = c * c;
+        double d2 = d * d;
+        double den = (a2 + b2 + c2 + d2) * FastMath.sqrt(a2 + b2 + c2 + d2);
+        Assert.assertEquals((b2 + c2 + d2) / den, r.getQ0().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(-a * b / den, r.getQ0().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(-a * c / den, r.getQ0().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(-a * d / den, r.getQ0().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(-b * a / den, r.getQ1().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals((a2 + c2 + d2) / den, r.getQ1().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(-b * c / den, r.getQ1().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(-b * d / den, r.getQ1().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(-c * a / den, r.getQ2().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(-c * b / den, r.getQ2().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals((a2 + b2 + d2) / den, r.getQ2().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(-c * d / den, r.getQ2().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(-d * a / den, r.getQ3().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(-d * b / den, r.getQ3().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(-d * c / den, r.getQ3().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals((a2 + b2 + c2) / den, r.getQ3().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        FieldRotation<DerivativeStructure> reverted = r.revert();
+        FieldRotation<DerivativeStructure> rrT = r.compose(reverted, RotationConvention.VECTOR_OPERATOR);
+        checkRotationDS(rrT, 1, 0, 0, 0);
+        Assert.assertEquals(0, rrT.getQ0().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ0().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ0().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ0().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ1().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ1().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ1().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ1().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ2().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ2().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ2().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ2().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ3().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ3().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ3().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ3().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        FieldRotation<DerivativeStructure> rTr = reverted.compose(r, RotationConvention.VECTOR_OPERATOR);
+        checkRotationDS(rTr, 1, 0, 0, 0);
+        Assert.assertEquals(0, rTr.getQ0().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ0().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ0().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ0().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ1().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ1().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ1().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ1().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ2().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ2().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ2().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ2().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ3().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ3().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ3().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ3().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(r.getAngle().getReal(), reverted.getAngle().getReal(), 1.0e-15);
+        Assert.assertEquals(-1,
+                            FieldVector3D.dotProduct(r.getAxis(RotationConvention.VECTOR_OPERATOR),
+                                                     reverted.getAxis(RotationConvention.VECTOR_OPERATOR)).getReal(),
+                            1.0e-15);
+    }
+
+    @Test
+    public void testRevertFrameTransform() {
+        double a = 0.001;
+        double b = 0.36;
+        double c = 0.48;
+        double d = 0.8;
+        FieldRotation<DerivativeStructure> r = createRotation(a, b, c, d, true);
+        double a2 = a * a;
+        double b2 = b * b;
+        double c2 = c * c;
+        double d2 = d * d;
+        double den = (a2 + b2 + c2 + d2) * FastMath.sqrt(a2 + b2 + c2 + d2);
+        Assert.assertEquals((b2 + c2 + d2) / den, r.getQ0().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(-a * b / den, r.getQ0().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(-a * c / den, r.getQ0().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(-a * d / den, r.getQ0().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(-b * a / den, r.getQ1().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals((a2 + c2 + d2) / den, r.getQ1().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(-b * c / den, r.getQ1().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(-b * d / den, r.getQ1().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(-c * a / den, r.getQ2().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(-c * b / den, r.getQ2().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals((a2 + b2 + d2) / den, r.getQ2().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(-c * d / den, r.getQ2().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(-d * a / den, r.getQ3().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(-d * b / den, r.getQ3().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(-d * c / den, r.getQ3().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals((a2 + b2 + c2) / den, r.getQ3().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        FieldRotation<DerivativeStructure> reverted = r.revert();
+        FieldRotation<DerivativeStructure> rrT = r.compose(reverted, RotationConvention.FRAME_TRANSFORM);
+        checkRotationDS(rrT, 1, 0, 0, 0);
+        Assert.assertEquals(0, rrT.getQ0().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ0().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ0().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ0().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ1().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ1().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ1().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ1().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ2().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ2().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ2().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ2().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ3().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ3().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ3().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rrT.getQ3().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        FieldRotation<DerivativeStructure> rTr = reverted.compose(r, RotationConvention.FRAME_TRANSFORM);
+        checkRotationDS(rTr, 1, 0, 0, 0);
+        Assert.assertEquals(0, rTr.getQ0().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ0().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ0().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ0().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ1().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ1().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ1().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ1().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ2().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ2().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ2().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ2().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ3().getPartialDerivative(1, 0, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ3().getPartialDerivative(0, 1, 0, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ3().getPartialDerivative(0, 0, 1, 0), 1.0e-15);
+        Assert.assertEquals(0, rTr.getQ3().getPartialDerivative(0, 0, 0, 1), 1.0e-15);
+        Assert.assertEquals(r.getAngle().getReal(), reverted.getAngle().getReal(), 1.0e-15);
+        Assert.assertEquals(-1,
+                            FieldVector3D.dotProduct(r.getAxis(RotationConvention.FRAME_TRANSFORM),
+                                                     reverted.getAxis(RotationConvention.FRAME_TRANSFORM)).getReal(),
+                            1.0e-15);
+    }
+
+    @Test
     public void testVectorOnePair() throws MathArithmeticException {
 
         FieldVector3D<DerivativeStructure> u = createVector(3, 2, 1);
@@ -635,7 +779,7 @@ public class FieldRotationDSTest {
     }
 
     @Test
-    public void testCompose() throws MathIllegalArgumentException {
+    public void testApplyToRotation() throws MathIllegalArgumentException {
 
         FieldRotation<DerivativeStructure> r1       = new FieldRotation<DerivativeStructure>(createVector(2, -3, 5),
                                                                                              createAngle(1.7),
@@ -645,10 +789,39 @@ public class FieldRotationDSTest {
                                                                                              RotationConvention.VECTOR_OPERATOR);
         FieldRotation<DerivativeStructure> r3       = r2.applyTo(r1);
         FieldRotation<DerivativeStructure> r3Double = r2.applyTo(new Rotation(r1.getQ0().getReal(),
-                                                      r1.getQ1().getReal(),
-                                                      r1.getQ2().getReal(),
-                                                      r1.getQ3().getReal(),
-                                                      false));
+                                                                              r1.getQ1().getReal(),
+                                                                              r1.getQ2().getReal(),
+                                                                              r1.getQ3().getReal(),
+                                                                              false));
+
+        for (double x = -0.9; x < 0.9; x += 0.2) {
+            for (double y = -0.9; y < 0.9; y += 0.2) {
+                for (double z = -0.9; z < 0.9; z += 0.2) {
+                    FieldVector3D<DerivativeStructure> u = createVector(x, y, z);
+                    checkVector(r2.applyTo(r1.applyTo(u)), r3.applyTo(u));
+                    checkVector(r2.applyTo(r1.applyTo(u)), r3Double.applyTo(u));
+                }
+            }
+        }
+
+    }
+
+    @Test
+    public void testComposeVectorOperator() throws MathIllegalArgumentException {
+
+        FieldRotation<DerivativeStructure> r1       = new FieldRotation<DerivativeStructure>(createVector(2, -3, 5),
+                                                                                             createAngle(1.7),
+                                                                                             RotationConvention.VECTOR_OPERATOR);
+        FieldRotation<DerivativeStructure> r2       = new FieldRotation<DerivativeStructure>(createVector(-1, 3, 2),
+                                                                                             createAngle(0.3),
+                                                                                             RotationConvention.VECTOR_OPERATOR);
+        FieldRotation<DerivativeStructure> r3       = r2.compose(r1, RotationConvention.VECTOR_OPERATOR);
+        FieldRotation<DerivativeStructure> r3Double = r2.compose(new Rotation(r1.getQ0().getReal(),
+                                                                              r1.getQ1().getReal(),
+                                                                              r1.getQ2().getReal(),
+                                                                              r1.getQ3().getReal(),
+                                                                              false),
+                                                                 RotationConvention.VECTOR_OPERATOR);
 
         for (double x = -0.9; x < 0.9; x += 0.2) {
             for (double y = -0.9; y < 0.9; y += 0.2) {
@@ -663,7 +836,36 @@ public class FieldRotationDSTest {
     }
 
     @Test
-    public void testComposeInverse() throws MathIllegalArgumentException {
+    public void testComposeFrameTransform() throws MathIllegalArgumentException {
+
+        FieldRotation<DerivativeStructure> r1       = new FieldRotation<DerivativeStructure>(createVector(2, -3, 5),
+                                                                                             createAngle(1.7),
+                                                                                             RotationConvention.FRAME_TRANSFORM);
+        FieldRotation<DerivativeStructure> r2       = new FieldRotation<DerivativeStructure>(createVector(-1, 3, 2),
+                                                                                             createAngle(0.3),
+                                                                                             RotationConvention.FRAME_TRANSFORM);
+        FieldRotation<DerivativeStructure> r3       = r2.compose(r1, RotationConvention.FRAME_TRANSFORM);
+        FieldRotation<DerivativeStructure> r3Double = r2.compose(new Rotation(r1.getQ0().getReal(),
+                                                                              r1.getQ1().getReal(),
+                                                                              r1.getQ2().getReal(),
+                                                                              r1.getQ3().getReal(),
+                                                                              false),
+                                                                 RotationConvention.FRAME_TRANSFORM);
+
+        for (double x = -0.9; x < 0.9; x += 0.2) {
+            for (double y = -0.9; y < 0.9; y += 0.2) {
+                for (double z = -0.9; z < 0.9; z += 0.2) {
+                    FieldVector3D<DerivativeStructure> u = createVector(x, y, z);
+                    checkVector(r1.applyTo(r2.applyTo(u)), r3.applyTo(u));
+                    checkVector(r1.applyTo(r2.applyTo(u)), r3Double.applyTo(u));
+                }
+            }
+        }
+
+    }
+
+    @Test
+    public void testApplyInverseToRotation() throws MathIllegalArgumentException {
 
         FieldRotation<DerivativeStructure> r1 = new FieldRotation<DerivativeStructure>(createVector(2, -3, 5),
                                                                                        createAngle(1.7),
@@ -673,10 +875,10 @@ public class FieldRotationDSTest {
                                                                                        RotationConvention.VECTOR_OPERATOR);
         FieldRotation<DerivativeStructure> r3 = r2.applyInverseTo(r1);
         FieldRotation<DerivativeStructure> r3Double = r2.applyInverseTo(new Rotation(r1.getQ0().getReal(),
-                                                             r1.getQ1().getReal(),
-                                                             r1.getQ2().getReal(),
-                                                             r1.getQ3().getReal(),
-                                                             false));
+                                                                                     r1.getQ1().getReal(),
+                                                                                     r1.getQ2().getReal(),
+                                                                                     r1.getQ3().getReal(),
+                                                                                    false));
 
         for (double x = -0.9; x < 0.9; x += 0.2) {
             for (double y = -0.9; y < 0.9; y += 0.2) {
@@ -691,6 +893,64 @@ public class FieldRotationDSTest {
     }
 
     @Test
+    public void testComposeInverseVectorOperator() throws MathIllegalArgumentException {
+
+        FieldRotation<DerivativeStructure> r1 = new FieldRotation<DerivativeStructure>(createVector(2, -3, 5),
+                                                                                       createAngle(1.7),
+                                                                                       RotationConvention.VECTOR_OPERATOR);
+        FieldRotation<DerivativeStructure> r2 = new FieldRotation<DerivativeStructure>(createVector(-1, 3, 2),
+                                                                                       createAngle(0.3),
+                                                                                       RotationConvention.VECTOR_OPERATOR);
+        FieldRotation<DerivativeStructure> r3 = r2.composeInverse(r1, RotationConvention.VECTOR_OPERATOR);
+        FieldRotation<DerivativeStructure> r3Double = r2.composeInverse(new Rotation(r1.getQ0().getReal(),
+                                                                                     r1.getQ1().getReal(),
+                                                                                     r1.getQ2().getReal(),
+                                                                                     r1.getQ3().getReal(),
+                                                                                     false),
+                                                                        RotationConvention.VECTOR_OPERATOR);
+
+        for (double x = -0.9; x < 0.9; x += 0.2) {
+            for (double y = -0.9; y < 0.9; y += 0.2) {
+                for (double z = -0.9; z < 0.9; z += 0.2) {
+                    FieldVector3D<DerivativeStructure> u = createVector(x, y, z);
+                    checkVector(r2.applyInverseTo(r1.applyTo(u)), r3.applyTo(u));
+                    checkVector(r2.applyInverseTo(r1.applyTo(u)), r3Double.applyTo(u));
+                }
+            }
+        }
+
+    }
+
+    @Test
+    public void testComposeInverseframeTransform() throws MathIllegalArgumentException {
+
+        FieldRotation<DerivativeStructure> r1 = new FieldRotation<DerivativeStructure>(createVector(2, -3, 5),
+                                                                                       createAngle(1.7),
+                                                                                       RotationConvention.FRAME_TRANSFORM);
+        FieldRotation<DerivativeStructure> r2 = new FieldRotation<DerivativeStructure>(createVector(-1, 3, 2),
+                                                                                       createAngle(0.3),
+                                                                                       RotationConvention.FRAME_TRANSFORM);
+        FieldRotation<DerivativeStructure> r3 = r2.composeInverse(r1, RotationConvention.FRAME_TRANSFORM);
+        FieldRotation<DerivativeStructure> r3Double = r2.composeInverse(new Rotation(r1.getQ0().getReal(),
+                                                                                     r1.getQ1().getReal(),
+                                                                                     r1.getQ2().getReal(),
+                                                                                     r1.getQ3().getReal(),
+                                                                                     false),
+                                                                        RotationConvention.FRAME_TRANSFORM);
+
+        for (double x = -0.9; x < 0.9; x += 0.2) {
+            for (double y = -0.9; y < 0.9; y += 0.2) {
+                for (double z = -0.9; z < 0.9; z += 0.2) {
+                    FieldVector3D<DerivativeStructure> u = createVector(x, y, z);
+                    checkVector(r1.applyTo(r2.applyInverseTo(u)), r3.applyTo(u));
+                    checkVector(r1.applyTo(r2.applyInverseTo(u)), r3Double.applyTo(u));
+                }
+            }
+        }
+
+    }
+
+    @Test
     public void testDoubleVectors() throws MathIllegalArgumentException {
 
         Well1024a random = new Well1024a(0x180b41cfeeffaf67l);
@@ -745,9 +1005,9 @@ public class FieldRotationDSTest {
                                                                                            RotationConvention.VECTOR_OPERATOR);
 
             FieldRotation<DerivativeStructure> rA = FieldRotation.applyTo(r1, r2);
-            FieldRotation<DerivativeStructure> rB = r1Prime.applyTo(r2);
+            FieldRotation<DerivativeStructure> rB = r1Prime.compose(r2, RotationConvention.VECTOR_OPERATOR);
             FieldRotation<DerivativeStructure> rC = FieldRotation.applyInverseTo(r1, r2);
-            FieldRotation<DerivativeStructure> rD = r1Prime.applyInverseTo(r2);
+            FieldRotation<DerivativeStructure> rD = r1Prime.composeInverse(r2, RotationConvention.VECTOR_OPERATOR);
 
             for (double x = -0.9; x < 0.9; x += 0.2) {
                 for (double y = -0.9; y < 0.9; y += 0.2) {

http://git-wip-us.apache.org/repos/asf/commons-math/blob/7db19f7d/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotationDfpTest.java
----------------------------------------------------------------------
diff --git a/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotationDfpTest.java b/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotationDfpTest.java
index 55f2f23..25cad68 100644
--- a/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotationDfpTest.java
+++ b/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotationDfpTest.java
@@ -186,6 +186,44 @@ public class FieldRotationDfpTest {
     }
 
     @Test
+    public void testRevertVectorOperator() {
+        double a = 0.001;
+        double b = 0.36;
+        double c = 0.48;
+        double d = 0.8;
+        FieldRotation<Dfp> r = createRotation(a, b, c, d, true);
+        FieldRotation<Dfp> reverted = r.revert();
+        FieldRotation<Dfp> rrT = r.compose(reverted, RotationConvention.VECTOR_OPERATOR);
+        checkRotationDS(rrT, 1, 0, 0, 0);
+        FieldRotation<Dfp> rTr = reverted.compose(r, RotationConvention.VECTOR_OPERATOR);
+        checkRotationDS(rTr, 1, 0, 0, 0);
+        Assert.assertEquals(r.getAngle().getReal(), reverted.getAngle().getReal(), 1.0e-15);
+        Assert.assertEquals(-1,
+                            FieldVector3D.dotProduct(r.getAxis(RotationConvention.VECTOR_OPERATOR),
+                                                     reverted.getAxis(RotationConvention.VECTOR_OPERATOR)).getReal(),
+                            1.0e-15);
+    }
+
+    @Test
+    public void testRevertFrameTransform() {
+        double a = 0.001;
+        double b = 0.36;
+        double c = 0.48;
+        double d = 0.8;
+        FieldRotation<Dfp> r = createRotation(a, b, c, d, true);
+        FieldRotation<Dfp> reverted = r.revert();
+        FieldRotation<Dfp> rrT = r.compose(reverted, RotationConvention.FRAME_TRANSFORM);
+        checkRotationDS(rrT, 1, 0, 0, 0);
+        FieldRotation<Dfp> rTr = reverted.compose(r, RotationConvention.FRAME_TRANSFORM);
+        checkRotationDS(rTr, 1, 0, 0, 0);
+        Assert.assertEquals(r.getAngle().getReal(), reverted.getAngle().getReal(), 1.0e-15);
+        Assert.assertEquals(-1,
+                            FieldVector3D.dotProduct(r.getAxis(RotationConvention.FRAME_TRANSFORM),
+                                                     reverted.getAxis(RotationConvention.FRAME_TRANSFORM)).getReal(),
+                            1.0e-15);
+    }
+
+    @Test
     public void testVectorOnePair() throws MathArithmeticException {
 
         FieldVector3D<Dfp> u = createVector(3, 2, 1);
@@ -578,7 +616,7 @@ public class FieldRotationDfpTest {
     }
 
     @Test
-    public void testCompose() throws MathIllegalArgumentException {
+    public void testApplyToRotation() throws MathIllegalArgumentException {
 
         FieldRotation<Dfp> r1       = new FieldRotation<Dfp>(createVector(2, -3, 5),
                                                              createAngle(1.7),
@@ -606,7 +644,67 @@ public class FieldRotationDfpTest {
     }
 
     @Test
-    public void testComposeInverse() throws MathIllegalArgumentException {
+    public void testComposeVectorOperator() throws MathIllegalArgumentException {
+
+        FieldRotation<Dfp> r1       = new FieldRotation<Dfp>(createVector(2, -3, 5),
+                                                             createAngle(1.7),
+                                                             RotationConvention.VECTOR_OPERATOR);
+        FieldRotation<Dfp> r2       = new FieldRotation<Dfp>(createVector(-1, 3, 2),
+                                                             createAngle(0.3),
+                                                             RotationConvention.VECTOR_OPERATOR);
+        FieldRotation<Dfp> r3       = r2.compose(r1, RotationConvention.VECTOR_OPERATOR);
+        FieldRotation<Dfp> r3Double = r2.compose(new Rotation(r1.getQ0().getReal(),
+                                                      r1.getQ1().getReal(),
+                                                      r1.getQ2().getReal(),
+                                                      r1.getQ3().getReal(),
+                                                      false),
+                                                 RotationConvention.VECTOR_OPERATOR);
+
+        for (double x = -0.9; x < 0.9; x += 0.2) {
+            for (double y = -0.9; y < 0.9; y += 0.2) {
+                for (double z = -0.9; z < 0.9; z += 0.2) {
+                    FieldVector3D<Dfp> u = createVector(x, y, z);
+                    checkVector(r2.applyTo(r1.applyTo(u)), r3.applyTo(u));
+                    checkVector(r2.applyTo(r1.applyTo(u)), r3Double.applyTo(u));
+                }
+            }
+        }
+
+    }
+
+    @Test
+    public void testComposeFrameTransform() throws MathIllegalArgumentException {
+
+        FieldRotation<Dfp> r1       = new FieldRotation<Dfp>(createVector(2, -3, 5),
+                                                             createAngle(1.7),
+                                                             RotationConvention.FRAME_TRANSFORM);
+        FieldRotation<Dfp> r2       = new FieldRotation<Dfp>(createVector(-1, 3, 2),
+                                                             createAngle(0.3),
+                                                             RotationConvention.FRAME_TRANSFORM);
+        FieldRotation<Dfp> r3       = r2.compose(r1, RotationConvention.FRAME_TRANSFORM);
+        FieldRotation<Dfp> r3Double = r2.compose(new Rotation(r1.getQ0().getReal(),
+                                                      r1.getQ1().getReal(),
+                                                      r1.getQ2().getReal(),
+                                                      r1.getQ3().getReal(),
+                                                      false),
+                                                 RotationConvention.FRAME_TRANSFORM);
+        FieldRotation<Dfp> r4 = r1.compose(r2, RotationConvention.VECTOR_OPERATOR);
+        Assert.assertEquals(0.0, FieldRotation.distance(r3, r4).getReal(), 1.0e-15);
+
+        for (double x = -0.9; x < 0.9; x += 0.2) {
+            for (double y = -0.9; y < 0.9; y += 0.2) {
+                for (double z = -0.9; z < 0.9; z += 0.2) {
+                    FieldVector3D<Dfp> u = createVector(x, y, z);
+                    checkVector(r1.applyTo(r2.applyTo(u)), r3.applyTo(u));
+                    checkVector(r1.applyTo(r2.applyTo(u)), r3Double.applyTo(u));
+                }
+            }
+        }
+
+    }
+
+    @Test
+    public void testApplyInverseToRotation() throws MathIllegalArgumentException {
 
         FieldRotation<Dfp> r1 = new FieldRotation<Dfp>(createVector(2, -3, 5),
                                                        createAngle(1.7),
@@ -634,6 +732,66 @@ public class FieldRotationDfpTest {
     }
 
     @Test
+    public void testComposeInverseVectorOperator() throws MathIllegalArgumentException {
+
+        FieldRotation<Dfp> r1 = new FieldRotation<Dfp>(createVector(2, -3, 5),
+                                                       createAngle(1.7),
+                                                       RotationConvention.VECTOR_OPERATOR);
+        FieldRotation<Dfp> r2 = new FieldRotation<Dfp>(createVector(-1, 3, 2),
+                                                       createAngle(0.3),
+                                                       RotationConvention.VECTOR_OPERATOR);
+        FieldRotation<Dfp> r3 = r2.composeInverse(r1, RotationConvention.VECTOR_OPERATOR);
+        FieldRotation<Dfp> r3Double = r2.composeInverse(new Rotation(r1.getQ0().getReal(),
+                                                             r1.getQ1().getReal(),
+                                                             r1.getQ2().getReal(),
+                                                             r1.getQ3().getReal(),
+                                                             false),
+                                                        RotationConvention.VECTOR_OPERATOR);
+
+        for (double x = -0.9; x < 0.9; x += 0.2) {
+            for (double y = -0.9; y < 0.9; y += 0.2) {
+                for (double z = -0.9; z < 0.9; z += 0.2) {
+                    FieldVector3D<Dfp> u = createVector(x, y, z);
+                    checkVector(r2.applyInverseTo(r1.applyTo(u)), r3.applyTo(u));
+                    checkVector(r2.applyInverseTo(r1.applyTo(u)), r3Double.applyTo(u));
+                }
+            }
+        }
+
+    }
+
+    @Test
+    public void testComposeInverseFrameTransform() throws MathIllegalArgumentException {
+
+        FieldRotation<Dfp> r1 = new FieldRotation<Dfp>(createVector(2, -3, 5),
+                                                       createAngle(1.7),
+                                                       RotationConvention.FRAME_TRANSFORM);
+        FieldRotation<Dfp> r2 = new FieldRotation<Dfp>(createVector(-1, 3, 2),
+                                                       createAngle(0.3),
+                                                       RotationConvention.FRAME_TRANSFORM);
+        FieldRotation<Dfp> r3 = r2.composeInverse(r1, RotationConvention.FRAME_TRANSFORM);
+        FieldRotation<Dfp> r3Double = r2.composeInverse(new Rotation(r1.getQ0().getReal(),
+                                                             r1.getQ1().getReal(),
+                                                             r1.getQ2().getReal(),
+                                                             r1.getQ3().getReal(),
+                                                             false),
+                                                        RotationConvention.FRAME_TRANSFORM);
+        FieldRotation<Dfp> r4 = r1.revert().composeInverse(r2.revert(), RotationConvention.VECTOR_OPERATOR);
+        Assert.assertEquals(0.0, FieldRotation.distance(r3, r4).getReal(), 1.0e-15);
+
+        for (double x = -0.9; x < 0.9; x += 0.2) {
+            for (double y = -0.9; y < 0.9; y += 0.2) {
+                for (double z = -0.9; z < 0.9; z += 0.2) {
+                    FieldVector3D<Dfp> u = createVector(x, y, z);
+                    checkVector(r1.applyTo(r2.applyInverseTo(u)), r3.applyTo(u));
+                    checkVector(r1.applyTo(r2.applyInverseTo(u)), r3Double.applyTo(u));
+                }
+            }
+        }
+
+    }
+
+    @Test
     public void testDoubleVectors() throws MathIllegalArgumentException {
 
         Well1024a random = new Well1024a(0x180b41cfeeffaf67l);
@@ -689,9 +847,9 @@ public class FieldRotationDfpTest {
                                                            RotationConvention.VECTOR_OPERATOR);
 
             FieldRotation<Dfp> rA = FieldRotation.applyTo(r1, r2);
-            FieldRotation<Dfp> rB = r1Prime.applyTo(r2);
+            FieldRotation<Dfp> rB = r1Prime.compose(r2, RotationConvention.VECTOR_OPERATOR);
             FieldRotation<Dfp> rC = FieldRotation.applyInverseTo(r1, r2);
-            FieldRotation<Dfp> rD = r1Prime.applyInverseTo(r2);
+            FieldRotation<Dfp> rD = r1Prime.composeInverse(r2, RotationConvention.VECTOR_OPERATOR);
 
             for (double x = -0.9; x < 0.9; x += 0.4) {
                 for (double y = -0.9; y < 0.9; y += 0.4) {

http://git-wip-us.apache.org/repos/asf/commons-math/blob/7db19f7d/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/RotationTest.java
----------------------------------------------------------------------
diff --git a/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/RotationTest.java b/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/RotationTest.java
index 532201a..27c3dd3 100644
--- a/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/RotationTest.java
+++ b/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/RotationTest.java
@@ -147,7 +147,7 @@ public class RotationTest {
   }
 
   @Test
-  public void testRevert() {
+  public void testRevertDeprecated() {
     Rotation r = new Rotation(0.001, 0.36, 0.48, 0.8, true);
     Rotation reverted = r.revert();
     checkRotation(r.applyTo(reverted), 1, 0, 0, 0);
@@ -160,6 +160,32 @@ public class RotationTest {
   }
 
   @Test
+  public void testRevertVectorOperator() {
+    Rotation r = new Rotation(0.001, 0.36, 0.48, 0.8, true);
+    Rotation reverted = r.revert();
+    checkRotation(r.compose(reverted, RotationConvention.VECTOR_OPERATOR), 1, 0, 0, 0);
+    checkRotation(reverted.compose(r, RotationConvention.VECTOR_OPERATOR), 1, 0, 0, 0);
+    Assert.assertEquals(r.getAngle(), reverted.getAngle(), 1.0e-12);
+    Assert.assertEquals(-1,
+                        Vector3D.dotProduct(r.getAxis(RotationConvention.VECTOR_OPERATOR),
+                                           reverted.getAxis(RotationConvention.VECTOR_OPERATOR)),
+                        1.0e-12);
+  }
+
+  @Test
+  public void testRevertFrameTransform() {
+    Rotation r = new Rotation(0.001, 0.36, 0.48, 0.8, true);
+    Rotation reverted = r.revert();
+    checkRotation(r.compose(reverted, RotationConvention.FRAME_TRANSFORM), 1, 0, 0, 0);
+    checkRotation(reverted.compose(r, RotationConvention.FRAME_TRANSFORM), 1, 0, 0, 0);
+    Assert.assertEquals(r.getAngle(), reverted.getAngle(), 1.0e-12);
+    Assert.assertEquals(-1,
+                        Vector3D.dotProduct(r.getAxis(RotationConvention.FRAME_TRANSFORM),
+                                           reverted.getAxis(RotationConvention.FRAME_TRANSFORM)),
+                        1.0e-12);
+  }
+
+  @Test
   public void testVectorOnePair() throws MathArithmeticException {
 
     Vector3D u = new Vector3D(3, 2, 1);
@@ -524,7 +550,7 @@ public class RotationTest {
   }
 
   @Test
-  public void testCompose() throws MathIllegalArgumentException {
+  public void testApplyTo() throws MathIllegalArgumentException {
 
     Rotation r1 = new Rotation(new Vector3D(2, -3, 5), 1.7, RotationConvention.VECTOR_OPERATOR);
     Rotation r2 = new Rotation(new Vector3D(-1, 3, 2), 0.3, RotationConvention.VECTOR_OPERATOR);
@@ -542,7 +568,45 @@ public class RotationTest {
   }
 
   @Test
-  public void testComposeInverse() throws MathIllegalArgumentException {
+  public void testComposeVectorOperator() throws MathIllegalArgumentException {
+
+    Rotation r1 = new Rotation(new Vector3D(2, -3, 5), 1.7, RotationConvention.VECTOR_OPERATOR);
+    Rotation r2 = new Rotation(new Vector3D(-1, 3, 2), 0.3, RotationConvention.VECTOR_OPERATOR);
+    Rotation r3 = r2.compose(r1, RotationConvention.VECTOR_OPERATOR);
+
+    for (double x = -0.9; x < 0.9; x += 0.2) {
+      for (double y = -0.9; y < 0.9; y += 0.2) {
+        for (double z = -0.9; z < 0.9; z += 0.2) {
+          Vector3D u = new Vector3D(x, y, z);
+          checkVector(r2.applyTo(r1.applyTo(u)), r3.applyTo(u));
+        }
+      }
+    }
+
+  }
+
+  @Test
+  public void testComposeFrameTransform() throws MathIllegalArgumentException {
+
+    Rotation r1 = new Rotation(new Vector3D(2, -3, 5), 1.7, RotationConvention.FRAME_TRANSFORM);
+    Rotation r2 = new Rotation(new Vector3D(-1, 3, 2), 0.3, RotationConvention.FRAME_TRANSFORM);
+    Rotation r3 = r2.compose(r1, RotationConvention.FRAME_TRANSFORM);
+    Rotation r4 = r1.compose(r2, RotationConvention.VECTOR_OPERATOR);
+    Assert.assertEquals(0.0, Rotation.distance(r3, r4), 1.0e-15);
+
+    for (double x = -0.9; x < 0.9; x += 0.2) {
+      for (double y = -0.9; y < 0.9; y += 0.2) {
+        for (double z = -0.9; z < 0.9; z += 0.2) {
+          Vector3D u = new Vector3D(x, y, z);
+          checkVector(r1.applyTo(r2.applyTo(u)), r3.applyTo(u));
+        }
+      }
+    }
+
+  }
+
+  @Test
+  public void testApplyInverseToRotation() throws MathIllegalArgumentException {
 
     Rotation r1 = new Rotation(new Vector3D(2, -3, 5), 1.7, RotationConvention.VECTOR_OPERATOR);
     Rotation r2 = new Rotation(new Vector3D(-1, 3, 2), 0.3, RotationConvention.VECTOR_OPERATOR);
@@ -560,6 +624,44 @@ public class RotationTest {
   }
 
   @Test
+  public void testComposeInverseVectorOperator() throws MathIllegalArgumentException {
+
+    Rotation r1 = new Rotation(new Vector3D(2, -3, 5), 1.7, RotationConvention.VECTOR_OPERATOR);
+    Rotation r2 = new Rotation(new Vector3D(-1, 3, 2), 0.3, RotationConvention.VECTOR_OPERATOR);
+    Rotation r3 = r2.composeInverse(r1, RotationConvention.VECTOR_OPERATOR);
+
+    for (double x = -0.9; x < 0.9; x += 0.2) {
+      for (double y = -0.9; y < 0.9; y += 0.2) {
+        for (double z = -0.9; z < 0.9; z += 0.2) {
+          Vector3D u = new Vector3D(x, y, z);
+          checkVector(r2.applyInverseTo(r1.applyTo(u)), r3.applyTo(u));
+        }
+      }
+    }
+
+  }
+
+  @Test
+  public void testComposeInverseFrameTransform() throws MathIllegalArgumentException {
+
+    Rotation r1 = new Rotation(new Vector3D(2, -3, 5), 1.7, RotationConvention.FRAME_TRANSFORM);
+    Rotation r2 = new Rotation(new Vector3D(-1, 3, 2), 0.3, RotationConvention.FRAME_TRANSFORM);
+    Rotation r3 = r2.composeInverse(r1, RotationConvention.FRAME_TRANSFORM);
+    Rotation r4 = r1.revert().composeInverse(r2.revert(), RotationConvention.VECTOR_OPERATOR);
+    Assert.assertEquals(0.0, Rotation.distance(r3, r4), 1.0e-15);
+
+    for (double x = -0.9; x < 0.9; x += 0.2) {
+      for (double y = -0.9; y < 0.9; y += 0.2) {
+        for (double z = -0.9; z < 0.9; z += 0.2) {
+          Vector3D u = new Vector3D(x, y, z);
+          checkVector(r1.applyTo(r2.applyInverseTo(u)), r3.applyTo(u));
+        }
+      }
+    }
+
+  }
+
+  @Test
   public void testArray() throws MathIllegalArgumentException {
 
       Rotation r = new Rotation(new Vector3D(2, -3, 5), 1.7, RotationConvention.VECTOR_OPERATOR);
@@ -691,7 +793,9 @@ public class RotationTest {
       final Rotation r1 = new Rotation(order.getA1(), zRotation, RotationConvention.FRAME_TRANSFORM);
       final Rotation r2 = new Rotation(order.getA2(), yRotation, RotationConvention.FRAME_TRANSFORM);
       final Rotation r3 = new Rotation(order.getA3(), xRotation, RotationConvention.FRAME_TRANSFORM);
-      final Rotation composite = r3.applyTo(r2.applyTo(r1));
+      final Rotation composite = r1.compose(r2.compose(r3,
+                                                       RotationConvention.FRAME_TRANSFORM),
+                                            RotationConvention.FRAME_TRANSFORM);
       final Vector3D good = composite.applyTo(startingVector);
 
       Assert.assertEquals(good.getX(), appliedIndividually.getX(), 1e-12);


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