org.apache.commons/commons-math3/3.6.1 : org/apache/commons/math3/geometry/euclidean/threed/FieldRotation.class

FieldRotation
http://commons.apache.org/proper/commons-math/: The Apache Commons Math project is a library of lightweight, self-contained mathematics and statistics components addressing the most common practical problems not immediately available in the Java programming language or commons-lang. (The Apache Software Foundation)
Apache License, Version 2.0
Eldar Agalarov
Tim Allison
C. Scott Ananian
Mark Anderson
Peter Andrews
Rémi Arntzen
Matt Adereth
Jared Becksfort
Michael Bjorkegren
Brian Bloniarz
John Bollinger
Cyril Briquet
Dave Brosius
Dan Checkoway
Anders Conbere
Charles Cooper
Paul Cowan
Benjamin Croizet
Larry Diamond
Aleksei Dievskii
Rodrigo di Lorenzo Lopes
Hasan Diwan
Ted Dunning
Ole Ersoy
Ajo Fod
John Gant
Ken Geis
Hank Grabowski
Bernhard Grünewaldt
Elliotte Rusty Harold
Dennis Hendriks
Reid Hochstedler
Matthias Hummel
Curtis Jensen
Bruce A Johnson
Ismael Juma
Eugene Kirpichov
Oleksandr Kornieiev
Piotr Kochanski
Sergei Lebedev
Bob MacCallum
Jake Mannix
Benjamin McCann
Patrick Meyer
J. Lewis Muir
Venkatesha Murthy
Christopher Nix
Fredrik Norin
Sean Owen
Sujit Pal
Todd C. Parnell
Andreas Rieger
Sébastien Riou
Bill Rossi
Matthew Rowles
Pavel Ryzhov
Joni Salonen
Michael Saunders
Thorsten Schaefer
Christopher Schuck
Christian Semrau
David Stefka
Mauro Talevi
Radoslav Tsvetkov
Kim van der Linde
Alexey Volkov
Andrew Waterman
Jörg Weimar
Christian Winter
Piotr Wydrych
Xiaogang Zhang
Chris Popp
Mikkel Meyer Andersen
Bill Barker
Sébastien Brisard
Albert Davidson Chou
Mark Diggory
Robert Burrell Donkin
Otmar Ertl
Luc Maisonobe
Tim O'Brien
J. Pietschmann
Dimitri Pourbaix
Gilles Sadowski
Greg Sterijevski
Brent Worden
Thomas Neidhart
Evan Ward
public class org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T extends org.apache.commons.math3.RealFieldElement<T>> implements java.io.Serializable
  minor version: 0
  major version: 59
  flags: flags: (0x0021) ACC_PUBLIC, ACC_SUPER
  this_class: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation
  super_class: java.lang.Object
{
  private static final long serialVersionUID;
    descriptor: J
    flags: (0x001a) ACC_PRIVATE, ACC_STATIC, ACC_FINAL
    ConstantValue: 20130224

  private final T q0;
    descriptor: Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0012) ACC_PRIVATE, ACC_FINAL
    Signature: TT;

  private final T q1;
    descriptor: Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0012) ACC_PRIVATE, ACC_FINAL
    Signature: TT;

  private final T q2;
    descriptor: Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0012) ACC_PRIVATE, ACC_FINAL
    Signature: TT;

  private final T q3;
    descriptor: Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0012) ACC_PRIVATE, ACC_FINAL
    Signature: TT;

  public void <init>(T, T, T, T, );
    descriptor: (Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Z)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=3, locals=7, args_size=6
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.RealFieldElement q0
        start local 2 // org.apache.commons.math3.RealFieldElement q1
        start local 3 // org.apache.commons.math3.RealFieldElement q2
        start local 4 // org.apache.commons.math3.RealFieldElement q3
        start local 5 // boolean needsNormalization
         0: .line 75
            aload 0 /* this */
            invokespecial java.lang.Object.<init>:()V
         1: .line 77
            iload 5 /* needsNormalization */
            ifeq 9
         2: .line 80
            aload 1 /* q0 */
            aload 1 /* q0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* q1 */
            aload 2 /* q1 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* q2 */
            aload 3 /* q2 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* q3 */
            aload 4 /* q3 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.sqrt:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.reciprocal:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         3: .line 79
            astore 6 /* inv */
        start local 6 // org.apache.commons.math3.RealFieldElement inv
         4: .line 81
            aload 0 /* this */
            aload 6 /* inv */
            aload 1 /* q0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
         5: .line 82
            aload 0 /* this */
            aload 6 /* inv */
            aload 2 /* q1 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
         6: .line 83
            aload 0 /* this */
            aload 6 /* inv */
            aload 3 /* q2 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
         7: .line 84
            aload 0 /* this */
            aload 6 /* inv */
            aload 4 /* q3 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
        end local 6 // org.apache.commons.math3.RealFieldElement inv
         8: .line 85
            goto 13
         9: .line 86
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement int
      StackMap stack:
            aload 0 /* this */
            aload 1 /* q0 */
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
        10: .line 87
            aload 0 /* this */
            aload 2 /* q1 */
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
        11: .line 88
            aload 0 /* this */
            aload 3 /* q2 */
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
        12: .line 89
            aload 0 /* this */
            aload 4 /* q3 */
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
        13: .line 92
      StackMap locals:
      StackMap stack:
            return
        end local 5 // boolean needsNormalization
        end local 4 // org.apache.commons.math3.RealFieldElement q3
        end local 3 // org.apache.commons.math3.RealFieldElement q2
        end local 2 // org.apache.commons.math3.RealFieldElement q1
        end local 1 // org.apache.commons.math3.RealFieldElement q0
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot                Name  Signature
            0   14     0                this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0   14     1                  q0  TT;
            0   14     2                  q1  TT;
            0   14     3                  q2  TT;
            0   14     4                  q3  TT;
            0   14     5  needsNormalization  Z
            4    8     6                 inv  TT;
    Signature: (TT;TT;TT;TT;Z)V
    MethodParameters:
                    Name  Flags
      q0                  final
      q1                  final
      q2                  final
      q3                  final
      needsNormalization  final

  public void <init>(org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T>, );
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/RealFieldElement;)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=4, locals=3, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D axis
        start local 2 // org.apache.commons.math3.RealFieldElement angle
         0: .line 120
            aload 0 /* this */
            aload 1 /* axis */
            aload 2 /* angle */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.<init>:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)V
         1: .line 121
            return
        end local 2 // org.apache.commons.math3.RealFieldElement angle
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D axis
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot   Name  Signature
            0    2     0   this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    2     1   axis  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
            0    2     2  angle  TT;
    Exceptions:
      throws org.apache.commons.math3.exception.MathIllegalArgumentException
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;TT;)V
    RuntimeVisibleAnnotations: 
      java.lang.Deprecated()
    MethodParameters:
       Name  Flags
      axis   final
      angle  final

  public void <init>(org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T>, T, org.apache.commons.math3.geometry.euclidean.threed.RotationConvention);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=4, locals=7, args_size=4
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D axis
        start local 2 // org.apache.commons.math3.RealFieldElement angle
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
         0: .line 146
            aload 0 /* this */
            invokespecial java.lang.Object.<init>:()V
         1: .line 149
            aload 1 /* axis */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getNorm:()Lorg/apache/commons/math3/RealFieldElement;
            astore 4 /* norm */
        start local 4 // org.apache.commons.math3.RealFieldElement norm
         2: .line 150
            aload 4 /* norm */
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dconst_0
            dcmpl
            ifne 4
         3: .line 151
            new org.apache.commons.math3.exception.MathIllegalArgumentException
            dup
            getstatic org.apache.commons.math3.exception.util.LocalizedFormats.ZERO_NORM_FOR_ROTATION_AXIS:Lorg/apache/commons/math3/exception/util/LocalizedFormats;
            iconst_0
            anewarray java.lang.Object
            invokespecial org.apache.commons.math3.exception.MathIllegalArgumentException.<init>:(Lorg/apache/commons/math3/exception/util/Localizable;[Ljava/lang/Object;)V
            athrow
         4: .line 154
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.RealFieldElement org.apache.commons.math3.geometry.euclidean.threed.RotationConvention org.apache.commons.math3.RealFieldElement
      StackMap stack:
            aload 2 /* angle */
            aload 3 /* convention */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            if_acmpne 5
            ldc -0.5
            goto 6
      StackMap locals:
      StackMap stack: org.apache.commons.math3.RealFieldElement
         5: ldc 0.5
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.RealFieldElement org.apache.commons.math3.geometry.euclidean.threed.RotationConvention org.apache.commons.math3.RealFieldElement
      StackMap stack: org.apache.commons.math3.RealFieldElement double
         6: invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 5 /* halfAngle */
        start local 5 // org.apache.commons.math3.RealFieldElement halfAngle
         7: .line 155
            aload 5 /* halfAngle */
            invokeinterface org.apache.commons.math3.RealFieldElement.sin:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* norm */
            invokeinterface org.apache.commons.math3.RealFieldElement.divide:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 6 /* coeff */
        start local 6 // org.apache.commons.math3.RealFieldElement coeff
         8: .line 157
            aload 0 /* this */
            aload 5 /* halfAngle */
            invokeinterface org.apache.commons.math3.RealFieldElement.cos:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
         9: .line 158
            aload 0 /* this */
            aload 6 /* coeff */
            aload 1 /* axis */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
        10: .line 159
            aload 0 /* this */
            aload 6 /* coeff */
            aload 1 /* axis */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
        11: .line 160
            aload 0 /* this */
            aload 6 /* coeff */
            aload 1 /* axis */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
        12: .line 162
            return
        end local 6 // org.apache.commons.math3.RealFieldElement coeff
        end local 5 // org.apache.commons.math3.RealFieldElement halfAngle
        end local 4 // org.apache.commons.math3.RealFieldElement norm
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
        end local 2 // org.apache.commons.math3.RealFieldElement angle
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D axis
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot        Name  Signature
            0   13     0        this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0   13     1        axis  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
            0   13     2       angle  TT;
            0   13     3  convention  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            2   13     4        norm  TT;
            7   13     5   halfAngle  TT;
            8   13     6       coeff  TT;
    Exceptions:
      throws org.apache.commons.math3.exception.MathIllegalArgumentException
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;TT;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)V
    MethodParameters:
            Name  Flags
      axis        final
      angle       final
      convention  final

  public void <init>(T[][], );
    descriptor: ([[Lorg/apache/commons/math3/RealFieldElement;D)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=8, locals=10, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.RealFieldElement[][] m
        start local 2 // double threshold
         0: .line 194
            aload 0 /* this */
            invokespecial java.lang.Object.<init>:()V
         1: .line 198
            aload 1 /* m */
            arraylength
            iconst_3
            if_icmpne 3
            aload 1 /* m */
            iconst_0
            aaload
            arraylength
            iconst_3
            if_icmpne 3
         2: .line 199
            aload 1 /* m */
            iconst_1
            aaload
            arraylength
            iconst_3
            if_icmpne 3
            aload 1 /* m */
            iconst_2
            aaload
            arraylength
            iconst_3
            if_icmpeq 7
         3: .line 200
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation org.apache.commons.math3.RealFieldElement[][] double
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.NotARotationMatrixException
            dup
         4: .line 201
            getstatic org.apache.commons.math3.exception.util.LocalizedFormats.ROTATION_MATRIX_DIMENSIONS:Lorg/apache/commons/math3/exception/util/LocalizedFormats;
            iconst_2
            anewarray java.lang.Object
            dup
            iconst_0
         5: .line 202
            aload 1 /* m */
            arraylength
            invokestatic java.lang.Integer.valueOf:(I)Ljava/lang/Integer;
            aastore
            dup
            iconst_1
            aload 1 /* m */
            iconst_0
            aaload
            arraylength
            invokestatic java.lang.Integer.valueOf:(I)Ljava/lang/Integer;
         6: .line 200
            aastore
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.NotARotationMatrixException.<init>:(Lorg/apache/commons/math3/exception/util/Localizable;[Ljava/lang/Object;)V
            athrow
         7: .line 206
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 1 /* m */
            dload 2 /* threshold */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.orthogonalizeMatrix:([[Lorg/apache/commons/math3/RealFieldElement;D)[[Lorg/apache/commons/math3/RealFieldElement;
            astore 4 /* ort */
        start local 4 // org.apache.commons.math3.RealFieldElement[][] ort
         8: .line 209
            aload 4 /* ort */
            iconst_1
            aaload
            iconst_1
            aaload
            aload 4 /* ort */
            iconst_2
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* ort */
            iconst_2
            aaload
            iconst_1
            aaload
            aload 4 /* ort */
            iconst_1
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 5 /* d0 */
        start local 5 // org.apache.commons.math3.RealFieldElement d0
         9: .line 210
            aload 4 /* ort */
            iconst_0
            aaload
            iconst_1
            aaload
            aload 4 /* ort */
            iconst_2
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* ort */
            iconst_2
            aaload
            iconst_1
            aaload
            aload 4 /* ort */
            iconst_0
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 6 /* d1 */
        start local 6 // org.apache.commons.math3.RealFieldElement d1
        10: .line 211
            aload 4 /* ort */
            iconst_0
            aaload
            iconst_1
            aaload
            aload 4 /* ort */
            iconst_1
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* ort */
            iconst_1
            aaload
            iconst_1
            aaload
            aload 4 /* ort */
            iconst_0
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 7 /* d2 */
        start local 7 // org.apache.commons.math3.RealFieldElement d2
        11: .line 213
            aload 4 /* ort */
            iconst_0
            aaload
            iconst_0
            aaload
            aload 5 /* d0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* ort */
            iconst_1
            aaload
            iconst_0
            aaload
            aload 6 /* d1 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* ort */
            iconst_2
            aaload
            iconst_0
            aaload
            aload 7 /* d2 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        12: .line 212
            astore 8 /* det */
        start local 8 // org.apache.commons.math3.RealFieldElement det
        13: .line 214
            aload 8 /* det */
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dconst_0
            dcmpg
            ifge 18
        14: .line 215
            new org.apache.commons.math3.geometry.euclidean.threed.NotARotationMatrixException
            dup
        15: .line 216
            getstatic org.apache.commons.math3.exception.util.LocalizedFormats.CLOSEST_ORTHOGONAL_MATRIX_HAS_NEGATIVE_DETERMINANT:Lorg/apache/commons/math3/exception/util/LocalizedFormats;
            iconst_1
            anewarray java.lang.Object
            dup
            iconst_0
        16: .line 217
            aload 8 /* det */
        17: .line 215
            aastore
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.NotARotationMatrixException.<init>:(Lorg/apache/commons/math3/exception/util/Localizable;[Ljava/lang/Object;)V
            athrow
        18: .line 220
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation org.apache.commons.math3.RealFieldElement[][] double org.apache.commons.math3.RealFieldElement[][] org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement
      StackMap stack:
            aload 0 /* this */
            aload 4 /* ort */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.mat2quat:([[Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            astore 9 /* quat */
        start local 9 // org.apache.commons.math3.RealFieldElement[] quat
        19: .line 221
            aload 0 /* this */
            aload 9 /* quat */
            iconst_0
            aaload
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
        20: .line 222
            aload 0 /* this */
            aload 9 /* quat */
            iconst_1
            aaload
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
        21: .line 223
            aload 0 /* this */
            aload 9 /* quat */
            iconst_2
            aaload
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
        22: .line 224
            aload 0 /* this */
            aload 9 /* quat */
            iconst_3
            aaload
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
        23: .line 226
            return
        end local 9 // org.apache.commons.math3.RealFieldElement[] quat
        end local 8 // org.apache.commons.math3.RealFieldElement det
        end local 7 // org.apache.commons.math3.RealFieldElement d2
        end local 6 // org.apache.commons.math3.RealFieldElement d1
        end local 5 // org.apache.commons.math3.RealFieldElement d0
        end local 4 // org.apache.commons.math3.RealFieldElement[][] ort
        end local 2 // double threshold
        end local 1 // org.apache.commons.math3.RealFieldElement[][] m
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot       Name  Signature
            0   24     0       this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0   24     1          m  [[Lorg/apache/commons/math3/RealFieldElement;
            0   24     2  threshold  D
            8   24     4        ort  [[Lorg/apache/commons/math3/RealFieldElement;
            9   24     5         d0  TT;
           10   24     6         d1  TT;
           11   24     7         d2  TT;
           13   24     8        det  TT;
           19   24     9       quat  [Lorg/apache/commons/math3/RealFieldElement;
    Exceptions:
      throws org.apache.commons.math3.geometry.euclidean.threed.NotARotationMatrixException
    Signature: ([[TT;D)V
    MethodParameters:
           Name  Flags
      m          final
      threshold  final

  public void <init>(org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T>, org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T>, org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T>, org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T>);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=5, locals=9, args_size=5
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u1
        start local 2 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u2
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
         0: .line 247
            aload 0 /* this */
            invokespecial java.lang.Object.<init>:()V
         1: .line 252
            aload 1 /* u1 */
            aload 2 /* u2 */
            invokestatic org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.crossProduct:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.normalize:()Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 5 /* u3 */
        start local 5 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u3
         2: .line 253
            aload 5 /* u3 */
            aload 1 /* u1 */
            invokestatic org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.crossProduct:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.normalize:()Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 2 /* u2 */
         3: .line 254
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.normalize:()Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 1 /* u1 */
         4: .line 258
            aload 3 /* v1 */
            aload 4 /* v2 */
            invokestatic org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.crossProduct:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.normalize:()Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 6 /* v3 */
        start local 6 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v3
         5: .line 259
            aload 6 /* v3 */
            aload 3 /* v1 */
            invokestatic org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.crossProduct:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.normalize:()Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
         6: .line 260
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.normalize:()Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
         7: .line 263
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getField:()Lorg/apache/commons/math3/Field;
            iconst_3
            iconst_3
            invokestatic org.apache.commons.math3.util.MathArrays.buildArray:(Lorg/apache/commons/math3/Field;II)[[Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement[][]
            astore 7 /* array */
        start local 7 // org.apache.commons.math3.RealFieldElement[][] array
         8: .line 264
            aload 7 /* array */
            iconst_0
            aaload
            iconst_0
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         9: .line 265
            aload 7 /* array */
            iconst_0
            aaload
            iconst_1
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        10: .line 266
            aload 7 /* array */
            iconst_0
            aaload
            iconst_2
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        11: .line 267
            aload 7 /* array */
            iconst_1
            aaload
            iconst_0
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        12: .line 268
            aload 7 /* array */
            iconst_1
            aaload
            iconst_1
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        13: .line 269
            aload 7 /* array */
            iconst_1
            aaload
            iconst_2
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        14: .line 270
            aload 7 /* array */
            iconst_2
            aaload
            iconst_0
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        15: .line 271
            aload 7 /* array */
            iconst_2
            aaload
            iconst_1
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        16: .line 272
            aload 7 /* array */
            iconst_2
            aaload
            iconst_2
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        17: .line 274
            aload 0 /* this */
            aload 7 /* array */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.mat2quat:([[Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            astore 8 /* quat */
        start local 8 // org.apache.commons.math3.RealFieldElement[] quat
        18: .line 275
            aload 0 /* this */
            aload 8 /* quat */
            iconst_0
            aaload
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
        19: .line 276
            aload 0 /* this */
            aload 8 /* quat */
            iconst_1
            aaload
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
        20: .line 277
            aload 0 /* this */
            aload 8 /* quat */
            iconst_2
            aaload
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
        21: .line 278
            aload 0 /* this */
            aload 8 /* quat */
            iconst_3
            aaload
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
        22: .line 280
            return
        end local 8 // org.apache.commons.math3.RealFieldElement[] quat
        end local 7 // org.apache.commons.math3.RealFieldElement[][] array
        end local 6 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v3
        end local 5 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u3
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        end local 2 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u2
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u1
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot   Name  Signature
            0   23     0   this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0   23     1     u1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
            0   23     2     u2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
            0   23     3     v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
            0   23     4     v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
            2   23     5     u3  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
            5   23     6     v3  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
            8   23     7  array  [[Lorg/apache/commons/math3/RealFieldElement;
           18   23     8   quat  [Lorg/apache/commons/math3/RealFieldElement;
    Exceptions:
      throws org.apache.commons.math3.exception.MathArithmeticException
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;)V
    MethodParameters:
      Name  Flags
      u1    
      u2    
      v1    
      v2    

  public void <init>(org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T>, org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T>);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=6, locals=7, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u
        start local 2 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v
         0: .line 295
            aload 0 /* this */
            invokespecial java.lang.Object.<init>:()V
         1: .line 297
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getNorm:()Lorg/apache/commons/math3/RealFieldElement;
            aload 2 /* v */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getNorm:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 3 /* normProduct */
        start local 3 // org.apache.commons.math3.RealFieldElement normProduct
         2: .line 298
            aload 3 /* normProduct */
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dconst_0
            dcmpl
            ifne 4
         3: .line 299
            new org.apache.commons.math3.exception.MathArithmeticException
            dup
            getstatic org.apache.commons.math3.exception.util.LocalizedFormats.ZERO_NORM_FOR_ROTATION_DEFINING_VECTOR:Lorg/apache/commons/math3/exception/util/LocalizedFormats;
            iconst_0
            anewarray java.lang.Object
            invokespecial org.apache.commons.math3.exception.MathArithmeticException.<init>:(Lorg/apache/commons/math3/exception/util/Localizable;[Ljava/lang/Object;)V
            athrow
         4: .line 302
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.RealFieldElement
      StackMap stack:
            aload 1 /* u */
            aload 2 /* v */
            invokestatic org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.dotProduct:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/RealFieldElement;
            astore 4 /* dot */
        start local 4 // org.apache.commons.math3.RealFieldElement dot
         5: .line 304
            aload 4 /* dot */
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.999999999999998
            aload 3 /* normProduct */
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dmul
            dcmpg
            ifge 12
         6: .line 307
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.orthogonal:()Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 5 /* w */
        start local 5 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D w
         7: .line 308
            aload 0 /* this */
            aload 3 /* normProduct */
            invokeinterface org.apache.commons.math3.RealFieldElement.getField:()Lorg/apache/commons/math3/Field;
            invokeinterface org.apache.commons.math3.Field.getZero:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
         8: .line 309
            aload 0 /* this */
            aload 5 /* w */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
         9: .line 310
            aload 0 /* this */
            aload 5 /* w */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
        10: .line 311
            aload 0 /* this */
            aload 5 /* w */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
        end local 5 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D w
        11: .line 312
            goto 18
        12: .line 315
      StackMap locals: org.apache.commons.math3.RealFieldElement
      StackMap stack:
            aload 0 /* this */
            aload 4 /* dot */
            aload 3 /* normProduct */
            invokeinterface org.apache.commons.math3.RealFieldElement.divide:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dconst_1
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.5
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.sqrt:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
        13: .line 316
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* normProduct */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 2.0
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.reciprocal:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 5 /* coeff */
        start local 5 // org.apache.commons.math3.RealFieldElement coeff
        14: .line 317
            aload 2 /* v */
            aload 1 /* u */
            invokestatic org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.crossProduct:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 6 /* q */
        start local 6 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D q
        15: .line 318
            aload 0 /* this */
            aload 5 /* coeff */
            aload 6 /* q */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
        16: .line 319
            aload 0 /* this */
            aload 5 /* coeff */
            aload 6 /* q */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
        17: .line 320
            aload 0 /* this */
            aload 5 /* coeff */
            aload 6 /* q */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
        end local 6 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D q
        end local 5 // org.apache.commons.math3.RealFieldElement coeff
        18: .line 323
      StackMap locals:
      StackMap stack:
            return
        end local 4 // org.apache.commons.math3.RealFieldElement dot
        end local 3 // org.apache.commons.math3.RealFieldElement normProduct
        end local 2 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot         Name  Signature
            0   19     0         this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0   19     1            u  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
            0   19     2            v  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
            2   19     3  normProduct  TT;
            5   19     4          dot  TT;
            7   11     5            w  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           14   18     5        coeff  TT;
           15   18     6            q  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
    Exceptions:
      throws org.apache.commons.math3.exception.MathArithmeticException
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;)V
    MethodParameters:
      Name  Flags
      u     final
      v     final

  public void <init>(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder, T, T, );
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=6, locals=5, args_size=5
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order
        start local 2 // org.apache.commons.math3.RealFieldElement alpha1
        start local 3 // org.apache.commons.math3.RealFieldElement alpha2
        start local 4 // org.apache.commons.math3.RealFieldElement alpha3
         0: .line 349
            aload 0 /* this */
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            aload 2 /* alpha1 */
            aload 3 /* alpha2 */
            aload 4 /* alpha3 */
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.<init>:(Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)V
         1: .line 350
            return
        end local 4 // org.apache.commons.math3.RealFieldElement alpha3
        end local 3 // org.apache.commons.math3.RealFieldElement alpha2
        end local 2 // org.apache.commons.math3.RealFieldElement alpha1
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot    Name  Signature
            0    2     0    this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    2     1   order  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            0    2     2  alpha1  TT;
            0    2     3  alpha2  TT;
            0    2     4  alpha3  TT;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;TT;TT;TT;)V
    RuntimeVisibleAnnotations: 
      java.lang.Deprecated()
    MethodParameters:
        Name  Flags
      order   final
      alpha1  final
      alpha2  final
      alpha3  final

  public void <init>(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder, org.apache.commons.math3.geometry.euclidean.threed.RotationConvention, T, T, );
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=6, locals=11, args_size=6
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order
        start local 2 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
        start local 3 // org.apache.commons.math3.RealFieldElement alpha1
        start local 4 // org.apache.commons.math3.RealFieldElement alpha2
        start local 5 // org.apache.commons.math3.RealFieldElement alpha3
         0: .line 374
            aload 0 /* this */
            invokespecial java.lang.Object.<init>:()V
         1: .line 376
            aload 3 /* alpha1 */
            invokeinterface org.apache.commons.math3.RealFieldElement.getField:()Lorg/apache/commons/math3/Field;
            invokeinterface org.apache.commons.math3.Field.getOne:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 6 /* one */
        start local 6 // org.apache.commons.math3.RealFieldElement one
         2: .line 377
            new org.apache.commons.math3.geometry.euclidean.threed.FieldRotation
            dup
            new org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
            dup
            aload 6 /* one */
            aload 1 /* order */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.getA1:()Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)V
            aload 3 /* alpha1 */
            aload 2 /* convention */
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.<init>:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)V
            astore 7 /* r1 */
        start local 7 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r1
         3: .line 378
            new org.apache.commons.math3.geometry.euclidean.threed.FieldRotation
            dup
            new org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
            dup
            aload 6 /* one */
            aload 1 /* order */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.getA2:()Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)V
            aload 4 /* alpha2 */
            aload 2 /* convention */
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.<init>:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)V
            astore 8 /* r2 */
        start local 8 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r2
         4: .line 379
            new org.apache.commons.math3.geometry.euclidean.threed.FieldRotation
            dup
            new org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
            dup
            aload 6 /* one */
            aload 1 /* order */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.getA3:()Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)V
            aload 5 /* alpha3 */
            aload 2 /* convention */
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.<init>:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)V
            astore 9 /* r3 */
        start local 9 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r3
         5: .line 380
            aload 7 /* r1 */
            aload 8 /* r2 */
            aload 9 /* r3 */
            aload 2 /* convention */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.compose:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
            aload 2 /* convention */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.compose:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
            astore 10 /* composed */
        start local 10 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation composed
         6: .line 381
            aload 0 /* this */
            aload 10 /* composed */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
         7: .line 382
            aload 0 /* this */
            aload 10 /* composed */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
         8: .line 383
            aload 0 /* this */
            aload 10 /* composed */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
         9: .line 384
            aload 0 /* this */
            aload 10 /* composed */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            putfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
        10: .line 385
            return
        end local 10 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation composed
        end local 9 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r3
        end local 8 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r2
        end local 7 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r1
        end local 6 // org.apache.commons.math3.RealFieldElement one
        end local 5 // org.apache.commons.math3.RealFieldElement alpha3
        end local 4 // org.apache.commons.math3.RealFieldElement alpha2
        end local 3 // org.apache.commons.math3.RealFieldElement alpha1
        end local 2 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot        Name  Signature
            0   11     0        this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0   11     1       order  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            0   11     2  convention  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            0   11     3      alpha1  TT;
            0   11     4      alpha2  TT;
            0   11     5      alpha3  TT;
            2   11     6         one  TT;
            3   11     7          r1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            4   11     8          r2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            5   11     9          r3  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            6   11    10    composed  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;TT;TT;TT;)V
    MethodParameters:
            Name  Flags
      order       final
      convention  final
      alpha1      final
      alpha2      final
      alpha3      final

  private T[] mat2quat();
    descriptor: ([[Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0002) ACC_PRIVATE
    Code:
      stack=6, locals=5, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.RealFieldElement[][] ort
         0: .line 393
            aload 1 /* ort */
            iconst_0
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getField:()Lorg/apache/commons/math3/Field;
            iconst_4
            invokestatic org.apache.commons.math3.util.MathArrays.buildArray:(Lorg/apache/commons/math3/Field;I)[Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement[]
            astore 2 /* quat */
        start local 2 // org.apache.commons.math3.RealFieldElement[] quat
         1: .line 406
            aload 1 /* ort */
            iconst_0
            aaload
            iconst_0
            aaload
            aload 1 /* ort */
            iconst_1
            aaload
            iconst_1
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* ort */
            iconst_2
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 3 /* s */
        start local 3 // org.apache.commons.math3.RealFieldElement s
         2: .line 407
            aload 3 /* s */
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.19
            dcmpl
            ifle 9
         3: .line 409
            aload 2 /* quat */
            iconst_0
            aload 3 /* s */
            dconst_1
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.sqrt:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.5
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         4: .line 410
            aload 2 /* quat */
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.reciprocal:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.25
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 4 /* inv */
        start local 4 // org.apache.commons.math3.RealFieldElement inv
         5: .line 411
            aload 2 /* quat */
            iconst_1
            aload 4 /* inv */
            aload 1 /* ort */
            iconst_1
            aaload
            iconst_2
            aaload
            aload 1 /* ort */
            iconst_2
            aaload
            iconst_1
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         6: .line 412
            aload 2 /* quat */
            iconst_2
            aload 4 /* inv */
            aload 1 /* ort */
            iconst_2
            aaload
            iconst_0
            aaload
            aload 1 /* ort */
            iconst_0
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         7: .line 413
            aload 2 /* quat */
            iconst_3
            aload 4 /* inv */
            aload 1 /* ort */
            iconst_0
            aaload
            iconst_1
            aaload
            aload 1 /* ort */
            iconst_1
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        end local 4 // org.apache.commons.math3.RealFieldElement inv
         8: .line 414
            goto 31
         9: .line 415
      StackMap locals: org.apache.commons.math3.RealFieldElement[] org.apache.commons.math3.RealFieldElement
      StackMap stack:
            aload 1 /* ort */
            iconst_0
            aaload
            iconst_0
            aaload
            aload 1 /* ort */
            iconst_1
            aaload
            iconst_1
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* ort */
            iconst_2
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 3 /* s */
        10: .line 416
            aload 3 /* s */
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.19
            dcmpl
            ifle 17
        11: .line 418
            aload 2 /* quat */
            iconst_1
            aload 3 /* s */
            dconst_1
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.sqrt:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.5
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        12: .line 419
            aload 2 /* quat */
            iconst_1
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.reciprocal:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.25
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 4 /* inv */
        start local 4 // org.apache.commons.math3.RealFieldElement inv
        13: .line 420
            aload 2 /* quat */
            iconst_0
            aload 4 /* inv */
            aload 1 /* ort */
            iconst_1
            aaload
            iconst_2
            aaload
            aload 1 /* ort */
            iconst_2
            aaload
            iconst_1
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        14: .line 421
            aload 2 /* quat */
            iconst_2
            aload 4 /* inv */
            aload 1 /* ort */
            iconst_0
            aaload
            iconst_1
            aaload
            aload 1 /* ort */
            iconst_1
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        15: .line 422
            aload 2 /* quat */
            iconst_3
            aload 4 /* inv */
            aload 1 /* ort */
            iconst_0
            aaload
            iconst_2
            aaload
            aload 1 /* ort */
            iconst_2
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        end local 4 // org.apache.commons.math3.RealFieldElement inv
        16: .line 423
            goto 31
        17: .line 424
      StackMap locals:
      StackMap stack:
            aload 1 /* ort */
            iconst_1
            aaload
            iconst_1
            aaload
            aload 1 /* ort */
            iconst_0
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* ort */
            iconst_2
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 3 /* s */
        18: .line 425
            aload 3 /* s */
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.19
            dcmpl
            ifle 25
        19: .line 427
            aload 2 /* quat */
            iconst_2
            aload 3 /* s */
            dconst_1
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.sqrt:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.5
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        20: .line 428
            aload 2 /* quat */
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.reciprocal:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.25
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 4 /* inv */
        start local 4 // org.apache.commons.math3.RealFieldElement inv
        21: .line 429
            aload 2 /* quat */
            iconst_0
            aload 4 /* inv */
            aload 1 /* ort */
            iconst_2
            aaload
            iconst_0
            aaload
            aload 1 /* ort */
            iconst_0
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        22: .line 430
            aload 2 /* quat */
            iconst_1
            aload 4 /* inv */
            aload 1 /* ort */
            iconst_0
            aaload
            iconst_1
            aaload
            aload 1 /* ort */
            iconst_1
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        23: .line 431
            aload 2 /* quat */
            iconst_3
            aload 4 /* inv */
            aload 1 /* ort */
            iconst_2
            aaload
            iconst_1
            aaload
            aload 1 /* ort */
            iconst_1
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        end local 4 // org.apache.commons.math3.RealFieldElement inv
        24: .line 432
            goto 31
        25: .line 434
      StackMap locals:
      StackMap stack:
            aload 1 /* ort */
            iconst_2
            aaload
            iconst_2
            aaload
            aload 1 /* ort */
            iconst_0
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* ort */
            iconst_1
            aaload
            iconst_1
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 3 /* s */
        26: .line 435
            aload 2 /* quat */
            iconst_3
            aload 3 /* s */
            dconst_1
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.sqrt:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.5
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        27: .line 436
            aload 2 /* quat */
            iconst_3
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.reciprocal:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.25
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 4 /* inv */
        start local 4 // org.apache.commons.math3.RealFieldElement inv
        28: .line 437
            aload 2 /* quat */
            iconst_0
            aload 4 /* inv */
            aload 1 /* ort */
            iconst_0
            aaload
            iconst_1
            aaload
            aload 1 /* ort */
            iconst_1
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        29: .line 438
            aload 2 /* quat */
            iconst_1
            aload 4 /* inv */
            aload 1 /* ort */
            iconst_0
            aaload
            iconst_2
            aaload
            aload 1 /* ort */
            iconst_2
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        30: .line 439
            aload 2 /* quat */
            iconst_2
            aload 4 /* inv */
            aload 1 /* ort */
            iconst_2
            aaload
            iconst_1
            aaload
            aload 1 /* ort */
            iconst_1
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        end local 4 // org.apache.commons.math3.RealFieldElement inv
        31: .line 444
      StackMap locals:
      StackMap stack:
            aload 2 /* quat */
            areturn
        end local 3 // org.apache.commons.math3.RealFieldElement s
        end local 2 // org.apache.commons.math3.RealFieldElement[] quat
        end local 1 // org.apache.commons.math3.RealFieldElement[][] ort
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0   32     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0   32     1   ort  [[Lorg/apache/commons/math3/RealFieldElement;
            1   32     2  quat  [Lorg/apache/commons/math3/RealFieldElement;
            2   32     3     s  TT;
            5    8     4   inv  TT;
           13   16     4   inv  TT;
           21   24     4   inv  TT;
           28   31     4   inv  TT;
    Signature: ([[TT;)[TT;
    MethodParameters:
      Name  Flags
      ort   final

  public org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T> revert();
    descriptor: ()Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=7, locals=1, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
         0: .line 456
            new org.apache.commons.math3.geometry.euclidean.threed.FieldRotation
            dup
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            iconst_0
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Z)V
            areturn
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    Signature: ()Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;

  public T getQ0();
    descriptor: ()Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=1, locals=1, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
         0: .line 463
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    Signature: ()TT;

  public T getQ1();
    descriptor: ()Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=1, locals=1, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
         0: .line 470
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    Signature: ()TT;

  public T getQ2();
    descriptor: ()Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=1, locals=1, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
         0: .line 477
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    Signature: ()TT;

  public T getQ3();
    descriptor: ()Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=1, locals=1, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
         0: .line 484
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    Signature: ()TT;

  public org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T> getAxis();
    descriptor: ()Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=2, locals=1, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
         0: .line 494
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.getAxis:(Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            areturn
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    Signature: ()Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
    RuntimeVisibleAnnotations: 
      java.lang.Deprecated()

  public org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T> getAxis(org.apache.commons.math3.geometry.euclidean.threed.RotationConvention);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=6, locals=6, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
         0: .line 509
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 2 /* squaredSine */
        start local 2 // org.apache.commons.math3.RealFieldElement squaredSine
         1: .line 510
            aload 2 /* squaredSine */
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dconst_0
            dcmpl
            ifne 8
         2: .line 511
            aload 2 /* squaredSine */
            invokeinterface org.apache.commons.math3.RealFieldElement.getField:()Lorg/apache/commons/math3/Field;
            astore 3 /* field */
        start local 3 // org.apache.commons.math3.Field field
         3: .line 512
            new org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
            dup
            aload 1 /* convention */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            if_acmpne 4
            aload 3 /* field */
            invokeinterface org.apache.commons.math3.Field.getOne:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            goto 5
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation org.apache.commons.math3.geometry.euclidean.threed.RotationConvention org.apache.commons.math3.RealFieldElement org.apache.commons.math3.Field
      StackMap stack: new 3 new 3
         4: aload 3 /* field */
            invokeinterface org.apache.commons.math3.Field.getOne:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         5: .line 513
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation org.apache.commons.math3.geometry.euclidean.threed.RotationConvention org.apache.commons.math3.RealFieldElement org.apache.commons.math3.Field
      StackMap stack: new 3 new 3 org.apache.commons.math3.RealFieldElement
            aload 3 /* field */
            invokeinterface org.apache.commons.math3.Field.getZero:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         6: .line 514
            aload 3 /* field */
            invokeinterface org.apache.commons.math3.Field.getZero:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         7: .line 512
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)V
            areturn
        end local 3 // org.apache.commons.math3.Field field
         8: .line 516
      StackMap locals:
      StackMap stack:
            aload 1 /* convention */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            if_acmpne 9
            iconst_1
            goto 10
      StackMap locals:
      StackMap stack:
         9: iconst_m1
      StackMap locals:
      StackMap stack: int
        10: i2d
            dstore 3 /* sgn */
        start local 3 // double sgn
        11: .line 517
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dconst_0
            dcmpg
            ifge 14
        12: .line 518
            aload 2 /* squaredSine */
            invokeinterface org.apache.commons.math3.RealFieldElement.sqrt:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.reciprocal:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 3 /* sgn */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 5 /* inverse */
        start local 5 // org.apache.commons.math3.RealFieldElement inverse
        13: .line 519
            new org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
            dup
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 5 /* inverse */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 5 /* inverse */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 5 /* inverse */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)V
            areturn
        end local 5 // org.apache.commons.math3.RealFieldElement inverse
        14: .line 521
      StackMap locals: double
      StackMap stack:
            aload 2 /* squaredSine */
            invokeinterface org.apache.commons.math3.RealFieldElement.sqrt:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.reciprocal:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 3 /* sgn */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 5 /* inverse */
        start local 5 // org.apache.commons.math3.RealFieldElement inverse
        15: .line 522
            new org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
            dup
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 5 /* inverse */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 5 /* inverse */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 5 /* inverse */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)V
            areturn
        end local 5 // org.apache.commons.math3.RealFieldElement inverse
        end local 3 // double sgn
        end local 2 // org.apache.commons.math3.RealFieldElement squaredSine
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot         Name  Signature
            0   16     0         this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0   16     1   convention  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            1   16     2  squaredSine  TT;
            3    8     3        field  Lorg/apache/commons/math3/Field<TT;>;
           11   16     3          sgn  D
           13   14     5      inverse  TT;
           15   16     5      inverse  TT;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
    MethodParameters:
            Name  Flags
      convention  final

  public T getAngle();
    descriptor: ()Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=4, locals=1, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
         0: .line 531
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.1
            dcmpg
            iflt 1
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.1
            dcmpl
            ifle 2
         1: .line 532
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.sqrt:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.asin:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            areturn
         2: .line 533
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dconst_0
            dcmpg
            ifge 4
         3: .line 534
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.acos:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            areturn
         4: .line 536
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.acos:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            areturn
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    5     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    Signature: ()TT;

  public T[] getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;)[Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=3, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order
         0: .line 578
            aload 0 /* this */
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.getAngles:(Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot   Name  Signature
            0    1     0   this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    1     1  order  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
    Exceptions:
      throws org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;)[TT;
    RuntimeVisibleAnnotations: 
      java.lang.Deprecated()
    MethodParameters:
       Name  Flags
      order  final

  public T[] getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder, org.apache.commons.math3.geometry.euclidean.threed.RotationConvention);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)[Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=8, locals=5, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order
        start local 2 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
         0: .line 621
            aload 2 /* convention */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            if_acmpne 108
         1: .line 622
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 10
         2: .line 629
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_0
            dconst_1
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
         3: .line 630
            aload 0 /* this */
            aload 0 /* this */
            dconst_1
            dconst_0
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
         4: .line 631
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 5
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 6
         5: .line 632
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_1
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
         6: .line 634
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         7: .line 635
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.asin:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         8: .line 636
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         9: .line 634
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        10: .line 638
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XZY:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 19
        11: .line 645
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_1
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        12: .line 646
            aload 0 /* this */
            aload 0 /* this */
            dconst_1
            dconst_0
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        13: .line 647
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 14
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 15
        14: .line 648
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_1
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
        15: .line 650
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        16: .line 651
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.asin:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        17: .line 652
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        18: .line 650
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        19: .line 654
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.YXZ:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 28
        20: .line 661
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_0
            dconst_1
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        21: .line 662
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_1
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        22: .line 663
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 23
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 24
        23: .line 664
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_1
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
        24: .line 666
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        25: .line 667
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.asin:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        26: .line 668
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        27: .line 666
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        28: .line 670
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.YZX:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 37
        29: .line 677
            aload 0 /* this */
            aload 0 /* this */
            dconst_1
            dconst_0
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        30: .line 678
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_1
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        31: .line 679
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 32
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 33
        32: .line 680
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_1
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
        33: .line 682
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        34: .line 683
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.asin:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        35: .line 684
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        36: .line 682
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        37: .line 686
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.ZXY:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 46
        38: .line 693
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_1
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        39: .line 694
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_0
            dconst_1
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        40: .line 695
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 41
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 42
        41: .line 696
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_1
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
        42: .line 698
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        43: .line 699
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.asin:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        44: .line 700
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        45: .line 698
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        46: .line 702
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.ZYX:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 55
        47: .line 709
            aload 0 /* this */
            aload 0 /* this */
            dconst_1
            dconst_0
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        48: .line 710
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_0
            dconst_1
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        49: .line 711
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 50
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 51
        50: .line 712
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_1
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
        51: .line 714
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        52: .line 715
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.asin:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        53: .line 716
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        54: .line 714
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        55: .line 718
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYX:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 64
        56: .line 725
            aload 0 /* this */
            aload 0 /* this */
            dconst_1
            dconst_0
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        57: .line 726
            aload 0 /* this */
            aload 0 /* this */
            dconst_1
            dconst_0
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        58: .line 727
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 59
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 60
        59: .line 728
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_0
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
        60: .line 730
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        61: .line 731
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.acos:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        62: .line 732
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        63: .line 730
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        64: .line 734
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XZX:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 73
        65: .line 741
            aload 0 /* this */
            aload 0 /* this */
            dconst_1
            dconst_0
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        66: .line 742
            aload 0 /* this */
            aload 0 /* this */
            dconst_1
            dconst_0
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        67: .line 743
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 68
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 69
        68: .line 744
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_0
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
        69: .line 746
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        70: .line 747
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.acos:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        71: .line 748
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        72: .line 746
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        73: .line 750
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.YXY:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 82
        74: .line 757
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_1
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        75: .line 758
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_1
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        76: .line 759
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 77
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 78
        77: .line 760
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_0
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
        78: .line 762
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        79: .line 763
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.acos:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        80: .line 764
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        81: .line 762
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        82: .line 766
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.YZY:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 91
        83: .line 773
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_1
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        84: .line 774
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_1
            dconst_0
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        85: .line 775
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 86
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 87
        86: .line 776
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_0
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
        87: .line 778
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        88: .line 779
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.acos:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        89: .line 780
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        90: .line 778
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        91: .line 782
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.ZXZ:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 100
        92: .line 789
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_0
            dconst_1
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        93: .line 790
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_0
            dconst_1
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        94: .line 791
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 95
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 96
        95: .line 792
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_0
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
        96: .line 794
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        97: .line 795
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.acos:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        98: .line 796
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
        99: .line 794
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       100: .line 805
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_0
            dconst_1
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       101: .line 806
            aload 0 /* this */
            aload 0 /* this */
            dconst_0
            dconst_0
            dconst_1
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.vector:(DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
       102: .line 807
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 103
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 104
       103: .line 808
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_0
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
       104: .line 810
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       105: .line 811
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.acos:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       106: .line 812
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       107: .line 810
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       108: .line 816
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 117
       109: .line 823
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_I:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       110: .line 824
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_K:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
       111: .line 825
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 112
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 113
       112: .line 826
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_1
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
       113: .line 828
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       114: .line 829
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.asin:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       115: .line 830
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       116: .line 828
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       117: .line 832
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XZY:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 126
       118: .line 839
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_I:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       119: .line 840
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_J:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
       120: .line 841
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 121
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 122
       121: .line 842
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_1
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
       122: .line 844
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       123: .line 845
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.asin:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       124: .line 846
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       125: .line 844
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       126: .line 848
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.YXZ:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 135
       127: .line 855
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_J:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       128: .line 856
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_K:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
       129: .line 857
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 130
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 131
       130: .line 858
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_1
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
       131: .line 860
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       132: .line 861
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.asin:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       133: .line 862
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       134: .line 860
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       135: .line 864
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.YZX:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 144
       136: .line 871
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_J:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       137: .line 872
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_I:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
       138: .line 873
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 139
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 140
       139: .line 874
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_1
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
       140: .line 876
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       141: .line 877
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.asin:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       142: .line 878
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       143: .line 876
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       144: .line 880
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.ZXY:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 153
       145: .line 887
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_K:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       146: .line 888
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_J:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
       147: .line 889
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 148
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 149
       148: .line 890
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_1
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
       149: .line 892
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       150: .line 893
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.asin:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       151: .line 894
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       152: .line 892
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       153: .line 896
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.ZYX:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 162
       154: .line 903
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_K:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       155: .line 904
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_I:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
       156: .line 905
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 157
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 158
       157: .line 906
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_1
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
       158: .line 908
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       159: .line 909
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.asin:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       160: .line 910
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       161: .line 908
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       162: .line 912
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYX:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 171
       163: .line 919
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_I:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       164: .line 920
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_I:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
       165: .line 921
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 166
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 167
       166: .line 922
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_0
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
       167: .line 924
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       168: .line 925
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.acos:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       169: .line 926
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       170: .line 924
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       171: .line 928
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XZX:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 180
       172: .line 935
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_I:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       173: .line 936
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_I:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
       174: .line 937
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 175
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 176
       175: .line 938
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_0
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
       176: .line 940
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       177: .line 941
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.acos:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       178: .line 942
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       179: .line 940
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       180: .line 944
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.YXY:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 189
       181: .line 951
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_J:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       182: .line 952
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_J:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
       183: .line 953
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 184
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 185
       184: .line 954
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_0
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
       185: .line 956
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       186: .line 957
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.acos:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       187: .line 958
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       188: .line 956
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       189: .line 960
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.YZY:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 198
       190: .line 967
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_J:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       191: .line 968
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_J:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
       192: .line 969
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 193
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 194
       193: .line 970
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_0
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
       194: .line 972
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       195: .line 973
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.acos:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       196: .line 974
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       197: .line 972
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       198: .line 976
      StackMap locals:
      StackMap stack:
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.ZXZ:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 207
       199: .line 983
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_K:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       200: .line 984
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_K:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
       201: .line 985
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 202
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 203
       202: .line 986
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_0
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
       203: .line 988
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       204: .line 989
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.acos:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       205: .line 990
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       206: .line 988
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       207: .line 999
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_K:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
       208: .line 1000
            aload 0 /* this */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_K:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
       209: .line 1001
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc -0.9999999999
            dcmpg
            iflt 210
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            ldc 0.9999999999
            dcmpl
            ifle 211
       210: .line 1002
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
            dup
            iconst_0
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException.<init>:(Z)V
            athrow
       211: .line 1004
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       212: .line 1005
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.acos:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       213: .line 1006
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.atan2:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
       214: .line 1004
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.buildArray:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D v1
        end local 2 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot        Name  Signature
            0  215     0        this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0  215     1       order  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            0  215     2  convention  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            3   10     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
            4   10     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           12   19     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           13   19     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           21   28     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           22   28     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           30   37     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           31   37     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           39   46     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           40   46     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           48   55     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           49   55     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           57   64     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           58   64     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           66   73     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           67   73     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           75   82     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           76   82     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           84   91     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           85   91     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           93  100     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
           94  100     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          101  108     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          102  108     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          110  117     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          111  117     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          119  126     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          120  126     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          128  135     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          129  135     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          137  144     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          138  144     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          146  153     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          147  153     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          155  162     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          156  162     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          164  171     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          165  171     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          173  180     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          174  180     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          182  189     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          183  189     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          191  198     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          192  198     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          200  207     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          201  207     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          208  215     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
          209  215     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
    Exceptions:
      throws org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)[TT;
    MethodParameters:
            Name  Flags
      order       final
      convention  

  private T[] buildArray(T, T, );
    descriptor: (Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)[Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0002) ACC_PRIVATE
    Code:
      stack=3, locals=5, args_size=4
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.RealFieldElement a0
        start local 2 // org.apache.commons.math3.RealFieldElement a1
        start local 3 // org.apache.commons.math3.RealFieldElement a2
         0: .line 1020
            aload 1 /* a0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.getField:()Lorg/apache/commons/math3/Field;
            iconst_3
            invokestatic org.apache.commons.math3.util.MathArrays.buildArray:(Lorg/apache/commons/math3/Field;I)[Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement[]
            astore 4 /* array */
        start local 4 // org.apache.commons.math3.RealFieldElement[] array
         1: .line 1021
            aload 4 /* array */
            iconst_0
            aload 1 /* a0 */
            aastore
         2: .line 1022
            aload 4 /* array */
            iconst_1
            aload 2 /* a1 */
            aastore
         3: .line 1023
            aload 4 /* array */
            iconst_2
            aload 3 /* a2 */
            aastore
         4: .line 1024
            aload 4 /* array */
            areturn
        end local 4 // org.apache.commons.math3.RealFieldElement[] array
        end local 3 // org.apache.commons.math3.RealFieldElement a2
        end local 2 // org.apache.commons.math3.RealFieldElement a1
        end local 1 // org.apache.commons.math3.RealFieldElement a0
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot   Name  Signature
            0    5     0   this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    5     1     a0  TT;
            0    5     2     a1  TT;
            0    5     3     a2  TT;
            1    5     4  array  [Lorg/apache/commons/math3/RealFieldElement;
    Signature: (TT;TT;TT;)[TT;
    MethodParameters:
      Name  Flags
      a0    final
      a1    final
      a2    final

  private org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T> vector(double, double, double);
    descriptor: (DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
    flags: (0x0002) ACC_PRIVATE
    Code:
      stack=7, locals=8, args_size=4
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // double x
        start local 3 // double y
        start local 5 // double z
         0: .line 1034
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getField:()Lorg/apache/commons/math3/Field;
            invokeinterface org.apache.commons.math3.Field.getZero:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 7 /* zero */
        start local 7 // org.apache.commons.math3.RealFieldElement zero
         1: .line 1035
            new org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
            dup
            aload 7 /* zero */
            dload 1 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 7 /* zero */
            dload 3 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 7 /* zero */
            dload 5 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)V
            areturn
        end local 7 // org.apache.commons.math3.RealFieldElement zero
        end local 5 // double z
        end local 3 // double y
        end local 1 // double x
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    2     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    2     1     x  D
            0    2     3     y  D
            0    2     5     z  D
            1    2     7  zero  TT;
    Signature: (DDD)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
    MethodParameters:
      Name  Flags
      x     final
      y     final
      z     final

  public T[][] getMatrix();
    descriptor: ()[[Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=5, locals=12, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
         0: .line 1044
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 1 /* q0q0 */
        start local 1 // org.apache.commons.math3.RealFieldElement q0q0
         1: .line 1045
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 2 /* q0q1 */
        start local 2 // org.apache.commons.math3.RealFieldElement q0q1
         2: .line 1046
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 3 /* q0q2 */
        start local 3 // org.apache.commons.math3.RealFieldElement q0q2
         3: .line 1047
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 4 /* q0q3 */
        start local 4 // org.apache.commons.math3.RealFieldElement q0q3
         4: .line 1048
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 5 /* q1q1 */
        start local 5 // org.apache.commons.math3.RealFieldElement q1q1
         5: .line 1049
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 6 /* q1q2 */
        start local 6 // org.apache.commons.math3.RealFieldElement q1q2
         6: .line 1050
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 7 /* q1q3 */
        start local 7 // org.apache.commons.math3.RealFieldElement q1q3
         7: .line 1051
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 8 /* q2q2 */
        start local 8 // org.apache.commons.math3.RealFieldElement q2q2
         8: .line 1052
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 9 /* q2q3 */
        start local 9 // org.apache.commons.math3.RealFieldElement q2q3
         9: .line 1053
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 10 /* q3q3 */
        start local 10 // org.apache.commons.math3.RealFieldElement q3q3
        10: .line 1056
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getField:()Lorg/apache/commons/math3/Field;
            iconst_3
            iconst_3
            invokestatic org.apache.commons.math3.util.MathArrays.buildArray:(Lorg/apache/commons/math3/Field;II)[[Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement[][]
            astore 11 /* m */
        start local 11 // org.apache.commons.math3.RealFieldElement[][] m
        11: .line 1058
            aload 11 /* m */
            iconst_0
            aaload
            iconst_0
            aload 1 /* q0q0 */
            aload 5 /* q1q1 */
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dconst_1
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        12: .line 1059
            aload 11 /* m */
            iconst_1
            aaload
            iconst_0
            aload 6 /* q1q2 */
            aload 4 /* q0q3 */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        13: .line 1060
            aload 11 /* m */
            iconst_2
            aaload
            iconst_0
            aload 7 /* q1q3 */
            aload 3 /* q0q2 */
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        14: .line 1062
            aload 11 /* m */
            iconst_0
            aaload
            iconst_1
            aload 6 /* q1q2 */
            aload 4 /* q0q3 */
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        15: .line 1063
            aload 11 /* m */
            iconst_1
            aaload
            iconst_1
            aload 1 /* q0q0 */
            aload 8 /* q2q2 */
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dconst_1
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        16: .line 1064
            aload 11 /* m */
            iconst_2
            aaload
            iconst_1
            aload 9 /* q2q3 */
            aload 2 /* q0q1 */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        17: .line 1066
            aload 11 /* m */
            iconst_0
            aaload
            iconst_2
            aload 7 /* q1q3 */
            aload 3 /* q0q2 */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        18: .line 1067
            aload 11 /* m */
            iconst_1
            aaload
            iconst_2
            aload 9 /* q2q3 */
            aload 2 /* q0q1 */
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        19: .line 1068
            aload 11 /* m */
            iconst_2
            aaload
            iconst_2
            aload 1 /* q0q0 */
            aload 10 /* q3q3 */
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dconst_1
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        20: .line 1070
            aload 11 /* m */
            areturn
        end local 11 // org.apache.commons.math3.RealFieldElement[][] m
        end local 10 // org.apache.commons.math3.RealFieldElement q3q3
        end local 9 // org.apache.commons.math3.RealFieldElement q2q3
        end local 8 // org.apache.commons.math3.RealFieldElement q2q2
        end local 7 // org.apache.commons.math3.RealFieldElement q1q3
        end local 6 // org.apache.commons.math3.RealFieldElement q1q2
        end local 5 // org.apache.commons.math3.RealFieldElement q1q1
        end local 4 // org.apache.commons.math3.RealFieldElement q0q3
        end local 3 // org.apache.commons.math3.RealFieldElement q0q2
        end local 2 // org.apache.commons.math3.RealFieldElement q0q1
        end local 1 // org.apache.commons.math3.RealFieldElement q0q0
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0   21     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            1   21     1  q0q0  TT;
            2   21     2  q0q1  TT;
            3   21     3  q0q2  TT;
            4   21     4  q0q3  TT;
            5   21     5  q1q1  TT;
            6   21     6  q1q2  TT;
            7   21     7  q1q3  TT;
            8   21     8  q2q2  TT;
            9   21     9  q2q3  TT;
           10   21    10  q3q3  TT;
           11   21    11     m  [[Lorg/apache/commons/math3/RealFieldElement;
    Signature: ()[[TT;

  public org.apache.commons.math3.geometry.euclidean.threed.Rotation toRotation();
    descriptor: ()Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=11, locals=1, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
         0: .line 1078
            new org.apache.commons.math3.geometry.euclidean.threed.Rotation
            dup
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            iconst_0
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.Rotation.<init>:(DDDDZ)V
            areturn
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;

  public org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T> applyTo(org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T>);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=9, locals=6, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u
         0: .line 1087
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            astore 2 /* x */
        start local 2 // org.apache.commons.math3.RealFieldElement x
         1: .line 1088
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            astore 3 /* y */
        start local 3 // org.apache.commons.math3.RealFieldElement y
         2: .line 1089
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            astore 4 /* z */
        start local 4 // org.apache.commons.math3.RealFieldElement z
         3: .line 1091
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 5 /* s */
        start local 5 // org.apache.commons.math3.RealFieldElement s
         4: .line 1093
            new org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
            dup
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 2 /* x */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         5: .line 1094
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* y */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         6: .line 1095
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* z */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         7: .line 1093
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)V
            areturn
        end local 5 // org.apache.commons.math3.RealFieldElement s
        end local 4 // org.apache.commons.math3.RealFieldElement z
        end local 3 // org.apache.commons.math3.RealFieldElement y
        end local 2 // org.apache.commons.math3.RealFieldElement x
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    8     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    8     1     u  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
            1    8     2     x  TT;
            2    8     3     y  TT;
            3    8     4     z  TT;
            4    8     5     s  TT;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
    MethodParameters:
      Name  Flags
      u     final

  public org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T> applyTo(org.apache.commons.math3.geometry.euclidean.threed.Vector3D);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=10, locals=9, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D u
         0: .line 1105
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            dstore 2 /* x */
        start local 2 // double x
         1: .line 1106
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            dstore 4 /* y */
        start local 4 // double y
         2: .line 1107
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            dstore 6 /* z */
        start local 6 // double z
         3: .line 1109
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            dload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            dload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            dload 6 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 8 /* s */
        start local 8 // org.apache.commons.math3.RealFieldElement s
         4: .line 1111
            new org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
            dup
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            dload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            dload 6 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            dload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 8 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         5: .line 1112
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            dload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            dload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            dload 6 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 8 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         6: .line 1113
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            dload 6 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            dload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            dload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 8 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 6 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         7: .line 1111
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)V
            areturn
        end local 8 // org.apache.commons.math3.RealFieldElement s
        end local 6 // double z
        end local 4 // double y
        end local 2 // double x
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D u
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    8     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    8     1     u  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            1    8     2     x  D
            2    8     4     y  D
            3    8     6     z  D
            4    8     8     s  TT;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
    MethodParameters:
      Name  Flags
      u     final

  public void applyTo(T[], );
    descriptor: ([Lorg/apache/commons/math3/RealFieldElement;[Lorg/apache/commons/math3/RealFieldElement;)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=7, locals=7, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.RealFieldElement[] in
        start local 2 // org.apache.commons.math3.RealFieldElement[] out
         0: .line 1124
            aload 1 /* in */
            iconst_0
            aaload
            astore 3 /* x */
        start local 3 // org.apache.commons.math3.RealFieldElement x
         1: .line 1125
            aload 1 /* in */
            iconst_1
            aaload
            astore 4 /* y */
        start local 4 // org.apache.commons.math3.RealFieldElement y
         2: .line 1126
            aload 1 /* in */
            iconst_2
            aaload
            astore 5 /* z */
        start local 5 // org.apache.commons.math3.RealFieldElement z
         3: .line 1128
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 5 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 6 /* s */
        start local 6 // org.apache.commons.math3.RealFieldElement s
         4: .line 1130
            aload 2 /* out */
            iconst_0
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* x */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 5 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 6 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         5: .line 1131
            aload 2 /* out */
            iconst_1
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* y */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 5 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 6 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         6: .line 1132
            aload 2 /* out */
            iconst_2
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 5 /* z */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 6 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         7: .line 1134
            return
        end local 6 // org.apache.commons.math3.RealFieldElement s
        end local 5 // org.apache.commons.math3.RealFieldElement z
        end local 4 // org.apache.commons.math3.RealFieldElement y
        end local 3 // org.apache.commons.math3.RealFieldElement x
        end local 2 // org.apache.commons.math3.RealFieldElement[] out
        end local 1 // org.apache.commons.math3.RealFieldElement[] in
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    8     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    8     1    in  [Lorg/apache/commons/math3/RealFieldElement;
            0    8     2   out  [Lorg/apache/commons/math3/RealFieldElement;
            1    8     3     x  TT;
            2    8     4     y  TT;
            3    8     5     z  TT;
            4    8     6     s  TT;
    Signature: ([TT;[TT;)V
    MethodParameters:
      Name  Flags
      in    final
      out   final

  public void applyTo(double[], );
    descriptor: ([D[Lorg/apache/commons/math3/RealFieldElement;)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=8, locals=10, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // double[] in
        start local 2 // org.apache.commons.math3.RealFieldElement[] out
         0: .line 1142
            aload 1 /* in */
            iconst_0
            daload
            dstore 3 /* x */
        start local 3 // double x
         1: .line 1143
            aload 1 /* in */
            iconst_1
            daload
            dstore 5 /* y */
        start local 5 // double y
         2: .line 1144
            aload 1 /* in */
            iconst_2
            daload
            dstore 7 /* z */
        start local 7 // double z
         3: .line 1146
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            dload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            dload 5 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            dload 7 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 9 /* s */
        start local 9 // org.apache.commons.math3.RealFieldElement s
         4: .line 1148
            aload 2 /* out */
            iconst_0
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            dload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            dload 7 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            dload 5 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 9 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         5: .line 1149
            aload 2 /* out */
            iconst_1
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            dload 5 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            dload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            dload 7 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 9 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 5 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         6: .line 1150
            aload 2 /* out */
            iconst_2
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            dload 7 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            dload 5 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            dload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 9 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 7 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         7: .line 1152
            return
        end local 9 // org.apache.commons.math3.RealFieldElement s
        end local 7 // double z
        end local 5 // double y
        end local 3 // double x
        end local 2 // org.apache.commons.math3.RealFieldElement[] out
        end local 1 // double[] in
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    8     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    8     1    in  [D
            0    8     2   out  [Lorg/apache/commons/math3/RealFieldElement;
            1    8     3     x  D
            2    8     5     y  D
            3    8     7     z  D
            4    8     9     s  TT;
    Signature: ([D[TT;)V
    MethodParameters:
      Name  Flags
      in    final
      out   final

  public static <T extends org.apache.commons.math3.RealFieldElement<T>> org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T> applyTo(org.apache.commons.math3.geometry.euclidean.threed.Rotation, org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T>);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
    flags: (0x0009) ACC_PUBLIC, ACC_STATIC
    Code:
      stack=9, locals=6, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u
         0: .line 1162
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            astore 2 /* x */
        start local 2 // org.apache.commons.math3.RealFieldElement x
         1: .line 1163
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            astore 3 /* y */
        start local 3 // org.apache.commons.math3.RealFieldElement y
         2: .line 1164
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            astore 4 /* z */
        start local 4 // org.apache.commons.math3.RealFieldElement z
         3: .line 1166
            aload 2 /* x */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* y */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* z */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 5 /* s */
        start local 5 // org.apache.commons.math3.RealFieldElement s
         4: .line 1168
            new org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
            dup
            aload 2 /* x */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* z */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* y */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* s */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         5: .line 1169
            aload 3 /* y */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* x */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* z */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* s */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         6: .line 1170
            aload 4 /* z */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* y */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* x */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* s */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         7: .line 1168
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)V
            areturn
        end local 5 // org.apache.commons.math3.RealFieldElement s
        end local 4 // org.apache.commons.math3.RealFieldElement z
        end local 3 // org.apache.commons.math3.RealFieldElement y
        end local 2 // org.apache.commons.math3.RealFieldElement x
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    8     0     r  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    8     1     u  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
            1    8     2     x  TT;
            2    8     3     y  TT;
            3    8     4     z  TT;
            4    8     5     s  TT;
    Signature: <T::Lorg/apache/commons/math3/RealFieldElement<TT;>;>(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
    MethodParameters:
      Name  Flags
      r     final
      u     final

  public org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T> applyInverseTo(org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T>);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=9, locals=7, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u
         0: .line 1180
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            astore 2 /* x */
        start local 2 // org.apache.commons.math3.RealFieldElement x
         1: .line 1181
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            astore 3 /* y */
        start local 3 // org.apache.commons.math3.RealFieldElement y
         2: .line 1182
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            astore 4 /* z */
        start local 4 // org.apache.commons.math3.RealFieldElement z
         3: .line 1184
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 5 /* s */
        start local 5 // org.apache.commons.math3.RealFieldElement s
         4: .line 1185
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 6 /* m0 */
        start local 6 // org.apache.commons.math3.RealFieldElement m0
         5: .line 1187
            new org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
            dup
            aload 6 /* m0 */
            aload 2 /* x */
            aload 6 /* m0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         6: .line 1188
            aload 6 /* m0 */
            aload 3 /* y */
            aload 6 /* m0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         7: .line 1189
            aload 6 /* m0 */
            aload 4 /* z */
            aload 6 /* m0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         8: .line 1187
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)V
            areturn
        end local 6 // org.apache.commons.math3.RealFieldElement m0
        end local 5 // org.apache.commons.math3.RealFieldElement s
        end local 4 // org.apache.commons.math3.RealFieldElement z
        end local 3 // org.apache.commons.math3.RealFieldElement y
        end local 2 // org.apache.commons.math3.RealFieldElement x
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    9     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    9     1     u  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
            1    9     2     x  TT;
            2    9     3     y  TT;
            3    9     4     z  TT;
            4    9     5     s  TT;
            5    9     6    m0  TT;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
    MethodParameters:
      Name  Flags
      u     final

  public org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T> applyInverseTo(org.apache.commons.math3.geometry.euclidean.threed.Vector3D);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=10, locals=10, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D u
         0: .line 1199
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            dstore 2 /* x */
        start local 2 // double x
         1: .line 1200
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            dstore 4 /* y */
        start local 4 // double y
         2: .line 1201
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            dstore 6 /* z */
        start local 6 // double z
         3: .line 1203
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            dload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            dload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            dload 6 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 8 /* s */
        start local 8 // org.apache.commons.math3.RealFieldElement s
         4: .line 1204
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 9 /* m0 */
        start local 9 // org.apache.commons.math3.RealFieldElement m0
         5: .line 1206
            new org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
            dup
            aload 9 /* m0 */
            aload 9 /* m0 */
            dload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            dload 6 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            dload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 8 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         6: .line 1207
            aload 9 /* m0 */
            aload 9 /* m0 */
            dload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            dload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            dload 6 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 8 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         7: .line 1208
            aload 9 /* m0 */
            aload 9 /* m0 */
            dload 6 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            dload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            dload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 8 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 6 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         8: .line 1206
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)V
            areturn
        end local 9 // org.apache.commons.math3.RealFieldElement m0
        end local 8 // org.apache.commons.math3.RealFieldElement s
        end local 6 // double z
        end local 4 // double y
        end local 2 // double x
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D u
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    9     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    9     1     u  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            1    9     2     x  D
            2    9     4     y  D
            3    9     6     z  D
            4    9     8     s  TT;
            5    9     9    m0  TT;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
    MethodParameters:
      Name  Flags
      u     final

  public void applyInverseTo(T[], );
    descriptor: ([Lorg/apache/commons/math3/RealFieldElement;[Lorg/apache/commons/math3/RealFieldElement;)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=7, locals=8, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.RealFieldElement[] in
        start local 2 // org.apache.commons.math3.RealFieldElement[] out
         0: .line 1219
            aload 1 /* in */
            iconst_0
            aaload
            astore 3 /* x */
        start local 3 // org.apache.commons.math3.RealFieldElement x
         1: .line 1220
            aload 1 /* in */
            iconst_1
            aaload
            astore 4 /* y */
        start local 4 // org.apache.commons.math3.RealFieldElement y
         2: .line 1221
            aload 1 /* in */
            iconst_2
            aaload
            astore 5 /* z */
        start local 5 // org.apache.commons.math3.RealFieldElement z
         3: .line 1223
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 5 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 6 /* s */
        start local 6 // org.apache.commons.math3.RealFieldElement s
         4: .line 1224
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 7 /* m0 */
        start local 7 // org.apache.commons.math3.RealFieldElement m0
         5: .line 1226
            aload 2 /* out */
            iconst_0
            aload 7 /* m0 */
            aload 3 /* x */
            aload 7 /* m0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 5 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 6 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         6: .line 1227
            aload 2 /* out */
            iconst_1
            aload 7 /* m0 */
            aload 4 /* y */
            aload 7 /* m0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 5 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 6 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         7: .line 1228
            aload 2 /* out */
            iconst_2
            aload 7 /* m0 */
            aload 5 /* z */
            aload 7 /* m0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 4 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 6 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         8: .line 1230
            return
        end local 7 // org.apache.commons.math3.RealFieldElement m0
        end local 6 // org.apache.commons.math3.RealFieldElement s
        end local 5 // org.apache.commons.math3.RealFieldElement z
        end local 4 // org.apache.commons.math3.RealFieldElement y
        end local 3 // org.apache.commons.math3.RealFieldElement x
        end local 2 // org.apache.commons.math3.RealFieldElement[] out
        end local 1 // org.apache.commons.math3.RealFieldElement[] in
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    9     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    9     1    in  [Lorg/apache/commons/math3/RealFieldElement;
            0    9     2   out  [Lorg/apache/commons/math3/RealFieldElement;
            1    9     3     x  TT;
            2    9     4     y  TT;
            3    9     5     z  TT;
            4    9     6     s  TT;
            5    9     7    m0  TT;
    Signature: ([TT;[TT;)V
    MethodParameters:
      Name  Flags
      in    final
      out   final

  public void applyInverseTo(double[], );
    descriptor: ([D[Lorg/apache/commons/math3/RealFieldElement;)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=8, locals=11, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // double[] in
        start local 2 // org.apache.commons.math3.RealFieldElement[] out
         0: .line 1238
            aload 1 /* in */
            iconst_0
            daload
            dstore 3 /* x */
        start local 3 // double x
         1: .line 1239
            aload 1 /* in */
            iconst_1
            daload
            dstore 5 /* y */
        start local 5 // double y
         2: .line 1240
            aload 1 /* in */
            iconst_2
            daload
            dstore 7 /* z */
        start local 7 // double z
         3: .line 1242
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            dload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            dload 5 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            dload 7 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 9 /* s */
        start local 9 // org.apache.commons.math3.RealFieldElement s
         4: .line 1243
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 10 /* m0 */
        start local 10 // org.apache.commons.math3.RealFieldElement m0
         5: .line 1245
            aload 2 /* out */
            iconst_0
            aload 10 /* m0 */
            aload 10 /* m0 */
            dload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            dload 7 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            dload 5 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 9 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         6: .line 1246
            aload 2 /* out */
            iconst_1
            aload 10 /* m0 */
            aload 10 /* m0 */
            dload 5 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            dload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            dload 7 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 9 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 5 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         7: .line 1247
            aload 2 /* out */
            iconst_2
            aload 10 /* m0 */
            aload 10 /* m0 */
            dload 7 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            dload 5 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            dload 3 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 9 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 7 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
         8: .line 1249
            return
        end local 10 // org.apache.commons.math3.RealFieldElement m0
        end local 9 // org.apache.commons.math3.RealFieldElement s
        end local 7 // double z
        end local 5 // double y
        end local 3 // double x
        end local 2 // org.apache.commons.math3.RealFieldElement[] out
        end local 1 // double[] in
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    9     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    9     1    in  [D
            0    9     2   out  [Lorg/apache/commons/math3/RealFieldElement;
            1    9     3     x  D
            2    9     5     y  D
            3    9     7     z  D
            4    9     9     s  TT;
            5    9    10    m0  TT;
    Signature: ([D[TT;)V
    MethodParameters:
      Name  Flags
      in    final
      out   final

  public static <T extends org.apache.commons.math3.RealFieldElement<T>> org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T> applyInverseTo(org.apache.commons.math3.geometry.euclidean.threed.Rotation, org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D<T>);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D;
    flags: (0x0009) ACC_PUBLIC, ACC_STATIC
    Code:
      stack=9, locals=8, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u
         0: .line 1259
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getX:()Lorg/apache/commons/math3/RealFieldElement;
            astore 2 /* x */
        start local 2 // org.apache.commons.math3.RealFieldElement x
         1: .line 1260
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getY:()Lorg/apache/commons/math3/RealFieldElement;
            astore 3 /* y */
        start local 3 // org.apache.commons.math3.RealFieldElement y
         2: .line 1261
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.getZ:()Lorg/apache/commons/math3/RealFieldElement;
            astore 4 /* z */
        start local 4 // org.apache.commons.math3.RealFieldElement z
         3: .line 1263
            aload 2 /* x */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* y */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* z */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 5 /* s */
        start local 5 // org.apache.commons.math3.RealFieldElement s
         4: .line 1264
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            dneg
            dstore 6 /* m0 */
        start local 6 // double m0
         5: .line 1266
            new org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D
            dup
            aload 2 /* x */
            dload 6 /* m0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* z */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* y */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 6 /* m0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* s */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* x */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         6: .line 1267
            aload 3 /* y */
            dload 6 /* m0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* x */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* z */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 6 /* m0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* s */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* y */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         7: .line 1268
            aload 4 /* z */
            dload 6 /* m0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 3 /* y */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 2 /* x */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            dload 6 /* m0 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* s */
            aload 0 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            iconst_2
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(I)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 4 /* z */
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         8: .line 1266
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;)V
            areturn
        end local 6 // double m0
        end local 5 // org.apache.commons.math3.RealFieldElement s
        end local 4 // org.apache.commons.math3.RealFieldElement z
        end local 3 // org.apache.commons.math3.RealFieldElement y
        end local 2 // org.apache.commons.math3.RealFieldElement x
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldVector3D u
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    9     0     r  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    9     1     u  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
            1    9     2     x  TT;
            2    9     3     y  TT;
            3    9     4     z  TT;
            4    9     5     s  TT;
            5    9     6    m0  D
    Signature: <T::Lorg/apache/commons/math3/RealFieldElement<TT;>;>(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldVector3D<TT;>;
    MethodParameters:
      Name  Flags
      r     final
      u     final

  public org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T> applyTo(org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T>);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=3, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r
         0: .line 1282
            aload 0 /* this */
            aload 1 /* r */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.compose:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    1     1     r  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    MethodParameters:
      Name  Flags
      r     final

  public org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T> compose(org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T>, org.apache.commons.math3.geometry.euclidean.threed.RotationConvention);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=2, locals=3, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r
        start local 2 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
         0: .line 1310
            aload 2 /* convention */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            if_acmpne 2
         1: .line 1311
            aload 0 /* this */
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.composeInternal:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
            goto 3
      StackMap locals:
      StackMap stack:
         2: aload 1 /* r */
            aload 0 /* this */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.composeInternal:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
         3: .line 1310
      StackMap locals:
      StackMap stack: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation
            areturn
        end local 2 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot        Name  Signature
            0    4     0        this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    4     1           r  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    4     2  convention  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    MethodParameters:
            Name  Flags
      r           final
      convention  final

  private org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T> composeInternal(org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T>);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
    flags: (0x0002) ACC_PRIVATE
    Code:
      stack=9, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r
         0: .line 1320
            new org.apache.commons.math3.geometry.euclidean.threed.FieldRotation
            dup
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         1: .line 1321
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         2: .line 1322
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         3: .line 1323
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         4: .line 1324
            iconst_0
         5: .line 1320
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Z)V
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    6     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    6     1     r  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    MethodParameters:
      Name  Flags
      r     final

  public org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T> applyTo(org.apache.commons.math3.geometry.euclidean.threed.Rotation);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=3, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
         0: .line 1337
            aload 0 /* this */
            aload 1 /* r */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.compose:(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    1     1     r  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    MethodParameters:
      Name  Flags
      r     final

  public org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T> compose(org.apache.commons.math3.geometry.euclidean.threed.Rotation, org.apache.commons.math3.geometry.euclidean.threed.RotationConvention);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=2, locals=3, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
        start local 2 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
         0: .line 1365
            aload 2 /* convention */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            if_acmpne 2
         1: .line 1366
            aload 0 /* this */
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.composeInternal:(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
            goto 3
      StackMap locals:
      StackMap stack:
         2: aload 1 /* r */
            aload 0 /* this */
            invokestatic org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
         3: .line 1365
      StackMap locals:
      StackMap stack: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation
            areturn
        end local 2 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot        Name  Signature
            0    4     0        this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    4     1           r  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    4     2  convention  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    MethodParameters:
            Name  Flags
      r           final
      convention  final

  private org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T> composeInternal(org.apache.commons.math3.geometry.euclidean.threed.Rotation);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
    flags: (0x0002) ACC_PRIVATE
    Code:
      stack=10, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
         0: .line 1375
            new org.apache.commons.math3.geometry.euclidean.threed.FieldRotation
            dup
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         1: .line 1376
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         2: .line 1377
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         3: .line 1378
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         4: .line 1379
            iconst_0
         5: .line 1375
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Z)V
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    6     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    6     1     r  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    MethodParameters:
      Name  Flags
      r     final

  public static <T extends org.apache.commons.math3.RealFieldElement<T>> org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T> applyTo(org.apache.commons.math3.geometry.euclidean.threed.Rotation, org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T>);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
    flags: (0x0009) ACC_PUBLIC, ACC_STATIC
    Code:
      stack=10, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r1
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation rInner
         0: .line 1394
            new org.apache.commons.math3.geometry.euclidean.threed.FieldRotation
            dup
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         1: .line 1395
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         2: .line 1396
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         3: .line 1397
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* r1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         4: .line 1398
            iconst_0
         5: .line 1394
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Z)V
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation rInner
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r1
      LocalVariableTable:
        Start  End  Slot    Name  Signature
            0    6     0      r1  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    6     1  rInner  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    Signature: <T::Lorg/apache/commons/math3/RealFieldElement<TT;>;>(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    MethodParameters:
        Name  Flags
      r1      final
      rInner  final

  public org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T> applyInverseTo(org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T>);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=3, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r
         0: .line 1412
            aload 0 /* this */
            aload 1 /* r */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.composeInverse:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    1     1     r  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    MethodParameters:
      Name  Flags
      r     final

  public org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T> composeInverse(org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T>, org.apache.commons.math3.geometry.euclidean.threed.RotationConvention);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=2, locals=3, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r
        start local 2 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
         0: .line 1442
            aload 2 /* convention */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            if_acmpne 2
         1: .line 1443
            aload 0 /* this */
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.composeInverseInternal:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
            goto 3
      StackMap locals:
      StackMap stack:
         2: aload 1 /* r */
            aload 0 /* this */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.revert:()Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.composeInternal:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
         3: .line 1442
      StackMap locals:
      StackMap stack: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation
            areturn
        end local 2 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot        Name  Signature
            0    4     0        this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    4     1           r  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    4     2  convention  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    MethodParameters:
            Name  Flags
      r           final
      convention  final

  private org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T> composeInverseInternal(org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T>);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
    flags: (0x0002) ACC_PRIVATE
    Code:
      stack=9, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r
         0: .line 1453
            new org.apache.commons.math3.geometry.euclidean.threed.FieldRotation
            dup
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         1: .line 1454
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         2: .line 1455
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         3: .line 1456
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         4: .line 1457
            iconst_0
         5: .line 1453
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Z)V
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    6     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    6     1     r  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    MethodParameters:
      Name  Flags
      r     

  public org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T> applyInverseTo(org.apache.commons.math3.geometry.euclidean.threed.Rotation);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=3, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
         0: .line 1471
            aload 0 /* this */
            aload 1 /* r */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.composeInverse:(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    1     1     r  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    MethodParameters:
      Name  Flags
      r     final

  public org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T> composeInverse(org.apache.commons.math3.geometry.euclidean.threed.Rotation, org.apache.commons.math3.geometry.euclidean.threed.RotationConvention);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=2, locals=3, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
        start local 2 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
         0: .line 1501
            aload 2 /* convention */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            if_acmpne 2
         1: .line 1502
            aload 0 /* this */
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.composeInverseInternal:(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
            goto 3
      StackMap locals:
      StackMap stack:
         2: aload 1 /* r */
            aload 0 /* this */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.revert:()Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
            invokestatic org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
         3: .line 1501
      StackMap locals:
      StackMap stack: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation
            areturn
        end local 2 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot        Name  Signature
            0    4     0        this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    4     1           r  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    4     2  convention  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    MethodParameters:
            Name  Flags
      r           final
      convention  final

  private org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T> composeInverseInternal(org.apache.commons.math3.geometry.euclidean.threed.Rotation);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
    flags: (0x0002) ACC_PRIVATE
    Code:
      stack=10, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
         0: .line 1512
            new org.apache.commons.math3.geometry.euclidean.threed.FieldRotation
            dup
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         1: .line 1513
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         2: .line 1514
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         3: .line 1515
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         4: .line 1516
            iconst_0
         5: .line 1512
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Z)V
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    6     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    6     1     r  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
    Signature: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    MethodParameters:
      Name  Flags
      r     

  public static <T extends org.apache.commons.math3.RealFieldElement<T>> org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T> applyInverseTo(org.apache.commons.math3.geometry.euclidean.threed.Rotation, org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T>);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
    flags: (0x0009) ACC_PUBLIC, ACC_STATIC
    Code:
      stack=10, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation rOuter
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation rInner
         0: .line 1533
            new org.apache.commons.math3.geometry.euclidean.threed.FieldRotation
            dup
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.negate:()Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         1: .line 1534
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         2: .line 1535
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         3: .line 1536
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q0:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ3:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q1:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ2:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q2:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ1:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* rInner */
            getfield org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.q3:Lorg/apache/commons/math3/RealFieldElement;
            aload 0 /* rOuter */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getQ0:()D
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
         4: .line 1537
            iconst_0
         5: .line 1533
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.<init>:(Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Lorg/apache/commons/math3/RealFieldElement;Z)V
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation rInner
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation rOuter
      LocalVariableTable:
        Start  End  Slot    Name  Signature
            0    6     0  rOuter  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    6     1  rInner  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    Signature: <T::Lorg/apache/commons/math3/RealFieldElement<TT;>;>(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    MethodParameters:
        Name  Flags
      rOuter  final
      rInner  final

  private T[][] orthogonalizeMatrix(T[][], );
    descriptor: ([[Lorg/apache/commons/math3/RealFieldElement;D)[[Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0002) ACC_PRIVATE
    Code:
      stack=8, locals=46, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
        start local 1 // org.apache.commons.math3.RealFieldElement[][] m
        start local 2 // double threshold
         0: .line 1553
            aload 1 /* m */
            iconst_0
            aaload
            iconst_0
            aaload
            astore 4 /* x00 */
        start local 4 // org.apache.commons.math3.RealFieldElement x00
         1: .line 1554
            aload 1 /* m */
            iconst_0
            aaload
            iconst_1
            aaload
            astore 5 /* x01 */
        start local 5 // org.apache.commons.math3.RealFieldElement x01
         2: .line 1555
            aload 1 /* m */
            iconst_0
            aaload
            iconst_2
            aaload
            astore 6 /* x02 */
        start local 6 // org.apache.commons.math3.RealFieldElement x02
         3: .line 1556
            aload 1 /* m */
            iconst_1
            aaload
            iconst_0
            aaload
            astore 7 /* x10 */
        start local 7 // org.apache.commons.math3.RealFieldElement x10
         4: .line 1557
            aload 1 /* m */
            iconst_1
            aaload
            iconst_1
            aaload
            astore 8 /* x11 */
        start local 8 // org.apache.commons.math3.RealFieldElement x11
         5: .line 1558
            aload 1 /* m */
            iconst_1
            aaload
            iconst_2
            aaload
            astore 9 /* x12 */
        start local 9 // org.apache.commons.math3.RealFieldElement x12
         6: .line 1559
            aload 1 /* m */
            iconst_2
            aaload
            iconst_0
            aaload
            astore 10 /* x20 */
        start local 10 // org.apache.commons.math3.RealFieldElement x20
         7: .line 1560
            aload 1 /* m */
            iconst_2
            aaload
            iconst_1
            aaload
            astore 11 /* x21 */
        start local 11 // org.apache.commons.math3.RealFieldElement x21
         8: .line 1561
            aload 1 /* m */
            iconst_2
            aaload
            iconst_2
            aaload
            astore 12 /* x22 */
        start local 12 // org.apache.commons.math3.RealFieldElement x22
         9: .line 1562
            dconst_0
            dstore 13 /* fn */
        start local 13 // double fn
        10: .line 1565
            aload 1 /* m */
            iconst_0
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getField:()Lorg/apache/commons/math3/Field;
            iconst_3
            iconst_3
            invokestatic org.apache.commons.math3.util.MathArrays.buildArray:(Lorg/apache/commons/math3/Field;II)[[Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement[][]
            astore 17 /* o */
        start local 17 // org.apache.commons.math3.RealFieldElement[][] o
        11: .line 1568
            iconst_0
            istore 18 /* i */
        start local 18 // int i
        12: .line 1569
            goto 65
        13: .line 1572
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation org.apache.commons.math3.RealFieldElement[][] double org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement double top top org.apache.commons.math3.RealFieldElement[][] int
      StackMap stack:
            aload 1 /* m */
            iconst_0
            aaload
            iconst_0
            aaload
            aload 4 /* x00 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_1
            aaload
            iconst_0
            aaload
            aload 7 /* x10 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_2
            aaload
            iconst_0
            aaload
            aload 10 /* x20 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 19 /* mx00 */
        start local 19 // org.apache.commons.math3.RealFieldElement mx00
        14: .line 1573
            aload 1 /* m */
            iconst_0
            aaload
            iconst_1
            aaload
            aload 4 /* x00 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_1
            aaload
            iconst_1
            aaload
            aload 7 /* x10 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_2
            aaload
            iconst_1
            aaload
            aload 10 /* x20 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 20 /* mx10 */
        start local 20 // org.apache.commons.math3.RealFieldElement mx10
        15: .line 1574
            aload 1 /* m */
            iconst_0
            aaload
            iconst_2
            aaload
            aload 4 /* x00 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_1
            aaload
            iconst_2
            aaload
            aload 7 /* x10 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_2
            aaload
            iconst_2
            aaload
            aload 10 /* x20 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 21 /* mx20 */
        start local 21 // org.apache.commons.math3.RealFieldElement mx20
        16: .line 1575
            aload 1 /* m */
            iconst_0
            aaload
            iconst_0
            aaload
            aload 5 /* x01 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_1
            aaload
            iconst_0
            aaload
            aload 8 /* x11 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_2
            aaload
            iconst_0
            aaload
            aload 11 /* x21 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 22 /* mx01 */
        start local 22 // org.apache.commons.math3.RealFieldElement mx01
        17: .line 1576
            aload 1 /* m */
            iconst_0
            aaload
            iconst_1
            aaload
            aload 5 /* x01 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_1
            aaload
            iconst_1
            aaload
            aload 8 /* x11 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_2
            aaload
            iconst_1
            aaload
            aload 11 /* x21 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 23 /* mx11 */
        start local 23 // org.apache.commons.math3.RealFieldElement mx11
        18: .line 1577
            aload 1 /* m */
            iconst_0
            aaload
            iconst_2
            aaload
            aload 5 /* x01 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_1
            aaload
            iconst_2
            aaload
            aload 8 /* x11 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_2
            aaload
            iconst_2
            aaload
            aload 11 /* x21 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 24 /* mx21 */
        start local 24 // org.apache.commons.math3.RealFieldElement mx21
        19: .line 1578
            aload 1 /* m */
            iconst_0
            aaload
            iconst_0
            aaload
            aload 6 /* x02 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_1
            aaload
            iconst_0
            aaload
            aload 9 /* x12 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_2
            aaload
            iconst_0
            aaload
            aload 12 /* x22 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 25 /* mx02 */
        start local 25 // org.apache.commons.math3.RealFieldElement mx02
        20: .line 1579
            aload 1 /* m */
            iconst_0
            aaload
            iconst_1
            aaload
            aload 6 /* x02 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_1
            aaload
            iconst_1
            aaload
            aload 9 /* x12 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_2
            aaload
            iconst_1
            aaload
            aload 12 /* x22 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 26 /* mx12 */
        start local 26 // org.apache.commons.math3.RealFieldElement mx12
        21: .line 1580
            aload 1 /* m */
            iconst_0
            aaload
            iconst_2
            aaload
            aload 6 /* x02 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_1
            aaload
            iconst_2
            aaload
            aload 9 /* x12 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_2
            aaload
            iconst_2
            aaload
            aload 12 /* x22 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            astore 27 /* mx22 */
        start local 27 // org.apache.commons.math3.RealFieldElement mx22
        22: .line 1583
            aload 17 /* o */
            iconst_0
            aaload
            iconst_0
            aload 4 /* x00 */
            aload 4 /* x00 */
            aload 19 /* mx00 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* x01 */
            aload 20 /* mx10 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 6 /* x02 */
            aload 21 /* mx20 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_0
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.5
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        23: .line 1584
            aload 17 /* o */
            iconst_0
            aaload
            iconst_1
            aload 5 /* x01 */
            aload 4 /* x00 */
            aload 22 /* mx01 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* x01 */
            aload 23 /* mx11 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 6 /* x02 */
            aload 24 /* mx21 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_0
            aaload
            iconst_1
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.5
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        24: .line 1585
            aload 17 /* o */
            iconst_0
            aaload
            iconst_2
            aload 6 /* x02 */
            aload 4 /* x00 */
            aload 25 /* mx02 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 5 /* x01 */
            aload 26 /* mx12 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 6 /* x02 */
            aload 27 /* mx22 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_0
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.5
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        25: .line 1586
            aload 17 /* o */
            iconst_1
            aaload
            iconst_0
            aload 7 /* x10 */
            aload 7 /* x10 */
            aload 19 /* mx00 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 8 /* x11 */
            aload 20 /* mx10 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 9 /* x12 */
            aload 21 /* mx20 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_1
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.5
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        26: .line 1587
            aload 17 /* o */
            iconst_1
            aaload
            iconst_1
            aload 8 /* x11 */
            aload 7 /* x10 */
            aload 22 /* mx01 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 8 /* x11 */
            aload 23 /* mx11 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 9 /* x12 */
            aload 24 /* mx21 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_1
            aaload
            iconst_1
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.5
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        27: .line 1588
            aload 17 /* o */
            iconst_1
            aaload
            iconst_2
            aload 9 /* x12 */
            aload 7 /* x10 */
            aload 25 /* mx02 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 8 /* x11 */
            aload 26 /* mx12 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 9 /* x12 */
            aload 27 /* mx22 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_1
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.5
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        28: .line 1589
            aload 17 /* o */
            iconst_2
            aaload
            iconst_0
            aload 10 /* x20 */
            aload 10 /* x20 */
            aload 19 /* mx00 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 11 /* x21 */
            aload 20 /* mx10 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 12 /* x22 */
            aload 21 /* mx20 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_2
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.5
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        29: .line 1590
            aload 17 /* o */
            iconst_2
            aaload
            iconst_1
            aload 11 /* x21 */
            aload 10 /* x20 */
            aload 22 /* mx01 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 11 /* x21 */
            aload 23 /* mx11 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 12 /* x22 */
            aload 24 /* mx21 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_2
            aaload
            iconst_1
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.5
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        30: .line 1591
            aload 17 /* o */
            iconst_2
            aaload
            iconst_2
            aload 12 /* x22 */
            aload 10 /* x20 */
            aload 25 /* mx02 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 11 /* x21 */
            aload 26 /* mx12 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 12 /* x22 */
            aload 27 /* mx22 */
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.add:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aload 1 /* m */
            iconst_2
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            ldc 0.5
            invokeinterface org.apache.commons.math3.RealFieldElement.multiply:(D)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            invokeinterface org.apache.commons.math3.RealFieldElement.subtract:(Ljava/lang/Object;)Ljava/lang/Object;
            checkcast org.apache.commons.math3.RealFieldElement
            aastore
        31: .line 1594
            aload 17 /* o */
            iconst_0
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            aload 1 /* m */
            iconst_0
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dsub
            dstore 28 /* corr00 */
        start local 28 // double corr00
        32: .line 1595
            aload 17 /* o */
            iconst_0
            aaload
            iconst_1
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            aload 1 /* m */
            iconst_0
            aaload
            iconst_1
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dsub
            dstore 30 /* corr01 */
        start local 30 // double corr01
        33: .line 1596
            aload 17 /* o */
            iconst_0
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            aload 1 /* m */
            iconst_0
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dsub
            dstore 32 /* corr02 */
        start local 32 // double corr02
        34: .line 1597
            aload 17 /* o */
            iconst_1
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            aload 1 /* m */
            iconst_1
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dsub
            dstore 34 /* corr10 */
        start local 34 // double corr10
        35: .line 1598
            aload 17 /* o */
            iconst_1
            aaload
            iconst_1
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            aload 1 /* m */
            iconst_1
            aaload
            iconst_1
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dsub
            dstore 36 /* corr11 */
        start local 36 // double corr11
        36: .line 1599
            aload 17 /* o */
            iconst_1
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            aload 1 /* m */
            iconst_1
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dsub
            dstore 38 /* corr12 */
        start local 38 // double corr12
        37: .line 1600
            aload 17 /* o */
            iconst_2
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            aload 1 /* m */
            iconst_2
            aaload
            iconst_0
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dsub
            dstore 40 /* corr20 */
        start local 40 // double corr20
        38: .line 1601
            aload 17 /* o */
            iconst_2
            aaload
            iconst_1
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            aload 1 /* m */
            iconst_2
            aaload
            iconst_1
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dsub
            dstore 42 /* corr21 */
        start local 42 // double corr21
        39: .line 1602
            aload 17 /* o */
            iconst_2
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            aload 1 /* m */
            iconst_2
            aaload
            iconst_2
            aaload
            invokeinterface org.apache.commons.math3.RealFieldElement.getReal:()D
            dsub
            dstore 44 /* corr22 */
        start local 44 // double corr22
        40: .line 1605
            dload 28 /* corr00 */
            dload 28 /* corr00 */
            dmul
            dload 30 /* corr01 */
            dload 30 /* corr01 */
            dmul
            dadd
            dload 32 /* corr02 */
            dload 32 /* corr02 */
            dmul
            dadd
        41: .line 1606
            dload 34 /* corr10 */
            dload 34 /* corr10 */
            dmul
        42: .line 1605
            dadd
        43: .line 1606
            dload 36 /* corr11 */
            dload 36 /* corr11 */
            dmul
        44: .line 1605
            dadd
        45: .line 1606
            dload 38 /* corr12 */
            dload 38 /* corr12 */
            dmul
        46: .line 1605
            dadd
        47: .line 1607
            dload 40 /* corr20 */
            dload 40 /* corr20 */
            dmul
        48: .line 1605
            dadd
        49: .line 1607
            dload 42 /* corr21 */
            dload 42 /* corr21 */
            dmul
        50: .line 1605
            dadd
        51: .line 1607
            dload 44 /* corr22 */
            dload 44 /* corr22 */
            dmul
        52: .line 1605
            dadd
            dstore 15 /* fn1 */
        start local 15 // double fn1
        53: .line 1610
            dload 15 /* fn1 */
            dload 13 /* fn */
            dsub
            invokestatic org.apache.commons.math3.util.FastMath.abs:(D)D
            dload 2 /* threshold */
            dcmpg
            ifgt 55
        54: .line 1611
            aload 17 /* o */
            areturn
        55: .line 1615
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation org.apache.commons.math3.RealFieldElement[][] double org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement double double org.apache.commons.math3.RealFieldElement[][] int org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement double double double double double double double double double
      StackMap stack:
            aload 17 /* o */
            iconst_0
            aaload
            iconst_0
            aaload
            astore 4 /* x00 */
        56: .line 1616
            aload 17 /* o */
            iconst_0
            aaload
            iconst_1
            aaload
            astore 5 /* x01 */
        57: .line 1617
            aload 17 /* o */
            iconst_0
            aaload
            iconst_2
            aaload
            astore 6 /* x02 */
        58: .line 1618
            aload 17 /* o */
            iconst_1
            aaload
            iconst_0
            aaload
            astore 7 /* x10 */
        59: .line 1619
            aload 17 /* o */
            iconst_1
            aaload
            iconst_1
            aaload
            astore 8 /* x11 */
        60: .line 1620
            aload 17 /* o */
            iconst_1
            aaload
            iconst_2
            aaload
            astore 9 /* x12 */
        61: .line 1621
            aload 17 /* o */
            iconst_2
            aaload
            iconst_0
            aaload
            astore 10 /* x20 */
        62: .line 1622
            aload 17 /* o */
            iconst_2
            aaload
            iconst_1
            aaload
            astore 11 /* x21 */
        63: .line 1623
            aload 17 /* o */
            iconst_2
            aaload
            iconst_2
            aaload
            astore 12 /* x22 */
        64: .line 1624
            dload 15 /* fn1 */
            dstore 13 /* fn */
        end local 44 // double corr22
        end local 42 // double corr21
        end local 40 // double corr20
        end local 38 // double corr12
        end local 36 // double corr11
        end local 34 // double corr10
        end local 32 // double corr02
        end local 30 // double corr01
        end local 28 // double corr00
        end local 27 // org.apache.commons.math3.RealFieldElement mx22
        end local 26 // org.apache.commons.math3.RealFieldElement mx12
        end local 25 // org.apache.commons.math3.RealFieldElement mx02
        end local 24 // org.apache.commons.math3.RealFieldElement mx21
        end local 23 // org.apache.commons.math3.RealFieldElement mx11
        end local 22 // org.apache.commons.math3.RealFieldElement mx01
        end local 21 // org.apache.commons.math3.RealFieldElement mx20
        end local 20 // org.apache.commons.math3.RealFieldElement mx10
        end local 19 // org.apache.commons.math3.RealFieldElement mx00
        end local 15 // double fn1
        65: .line 1569
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.FieldRotation org.apache.commons.math3.RealFieldElement[][] double org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement org.apache.commons.math3.RealFieldElement double top top org.apache.commons.math3.RealFieldElement[][] int
      StackMap stack:
            iinc 18 /* i */ 1
            iload 18 /* i */
            bipush 11
            if_icmplt 13
        66: .line 1629
            new org.apache.commons.math3.geometry.euclidean.threed.NotARotationMatrixException
            dup
            getstatic org.apache.commons.math3.exception.util.LocalizedFormats.UNABLE_TO_ORTHOGONOLIZE_MATRIX:Lorg/apache/commons/math3/exception/util/LocalizedFormats;
            iconst_1
            anewarray java.lang.Object
            dup
            iconst_0
        67: .line 1630
            iload 18 /* i */
            iconst_1
            isub
            invokestatic java.lang.Integer.valueOf:(I)Ljava/lang/Integer;
        68: .line 1629
            aastore
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.NotARotationMatrixException.<init>:(Lorg/apache/commons/math3/exception/util/Localizable;[Ljava/lang/Object;)V
            athrow
        end local 18 // int i
        end local 17 // org.apache.commons.math3.RealFieldElement[][] o
        end local 13 // double fn
        end local 12 // org.apache.commons.math3.RealFieldElement x22
        end local 11 // org.apache.commons.math3.RealFieldElement x21
        end local 10 // org.apache.commons.math3.RealFieldElement x20
        end local 9 // org.apache.commons.math3.RealFieldElement x12
        end local 8 // org.apache.commons.math3.RealFieldElement x11
        end local 7 // org.apache.commons.math3.RealFieldElement x10
        end local 6 // org.apache.commons.math3.RealFieldElement x02
        end local 5 // org.apache.commons.math3.RealFieldElement x01
        end local 4 // org.apache.commons.math3.RealFieldElement x00
        end local 2 // double threshold
        end local 1 // org.apache.commons.math3.RealFieldElement[][] m
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation this
      LocalVariableTable:
        Start  End  Slot       Name  Signature
            0   69     0       this  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0   69     1          m  [[Lorg/apache/commons/math3/RealFieldElement;
            0   69     2  threshold  D
            1   69     4        x00  TT;
            2   69     5        x01  TT;
            3   69     6        x02  TT;
            4   69     7        x10  TT;
            5   69     8        x11  TT;
            6   69     9        x12  TT;
            7   69    10        x20  TT;
            8   69    11        x21  TT;
            9   69    12        x22  TT;
           10   69    13         fn  D
           53   65    15        fn1  D
           11   69    17          o  [[Lorg/apache/commons/math3/RealFieldElement;
           12   69    18          i  I
           14   65    19       mx00  TT;
           15   65    20       mx10  TT;
           16   65    21       mx20  TT;
           17   65    22       mx01  TT;
           18   65    23       mx11  TT;
           19   65    24       mx21  TT;
           20   65    25       mx02  TT;
           21   65    26       mx12  TT;
           22   65    27       mx22  TT;
           32   65    28     corr00  D
           33   65    30     corr01  D
           34   65    32     corr02  D
           35   65    34     corr10  D
           36   65    36     corr11  D
           37   65    38     corr12  D
           38   65    40     corr20  D
           39   65    42     corr21  D
           40   65    44     corr22  D
    Exceptions:
      throws org.apache.commons.math3.geometry.euclidean.threed.NotARotationMatrixException
    Signature: ([[TT;D)[[TT;
    MethodParameters:
           Name  Flags
      m          final
      threshold  final

  public static <T extends org.apache.commons.math3.RealFieldElement<T>> T distance(org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T>, org.apache.commons.math3.geometry.euclidean.threed.FieldRotation<T>);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;)Lorg/apache/commons/math3/RealFieldElement;
    flags: (0x0009) ACC_PUBLIC, ACC_STATIC
    Code:
      stack=2, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r1
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r2
         0: .line 1660
            aload 0 /* r1 */
            aload 1 /* r2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.composeInverseInternal:(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.FieldRotation.getAngle:()Lorg/apache/commons/math3/RealFieldElement;
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r2
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.FieldRotation r1
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0    r1  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
            0    1     1    r2  Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;
    Signature: <T::Lorg/apache/commons/math3/RealFieldElement<TT;>;>(Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;Lorg/apache/commons/math3/geometry/euclidean/threed/FieldRotation<TT;>;)TT;
    MethodParameters:
      Name  Flags
      r1    final
      r2    final
}
Signature: <T::Lorg/apache/commons/math3/RealFieldElement<TT;>;>Ljava/lang/Object;Ljava/io/Serializable;
SourceFile: "FieldRotation.java"
/

org.apache.commons/ commons-math3/ 3.6.1/ org/apache/commons/math3/geometry/euclidean/threed/FieldRotation.class
