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

Rotation
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.Rotation 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.Rotation
  super_class: java.lang.Object
{
  public static final org.apache.commons.math3.geometry.euclidean.threed.Rotation IDENTITY;
    descriptor: Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
    flags: (0x0019) ACC_PUBLIC, ACC_STATIC, ACC_FINAL

  private static final long serialVersionUID;
    descriptor: J
    flags: (0x001a) ACC_PRIVATE, ACC_STATIC, ACC_FINAL
    ConstantValue: -2153622329907944313

  private final double q0;
    descriptor: D
    flags: (0x0012) ACC_PRIVATE, ACC_FINAL

  private final double q1;
    descriptor: D
    flags: (0x0012) ACC_PRIVATE, ACC_FINAL

  private final double q2;
    descriptor: D
    flags: (0x0012) ACC_PRIVATE, ACC_FINAL

  private final double q3;
    descriptor: D
    flags: (0x0012) ACC_PRIVATE, ACC_FINAL

  static void <clinit>();
    descriptor: ()V
    flags: (0x0008) ACC_STATIC
    Code:
      stack=11, locals=0, args_size=0
         0: .line 99
            new org.apache.commons.math3.geometry.euclidean.threed.Rotation
            dup
            dconst_1
            dconst_0
            dconst_0
            dconst_0
            iconst_0
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.Rotation.<init>:(DDDDZ)V
            putstatic org.apache.commons.math3.geometry.euclidean.threed.Rotation.IDENTITY:Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
         1: .line 102
            return
      LocalVariableTable:
        Start  End  Slot  Name  Signature

  public void <init>(double, double, double, double, boolean);
    descriptor: (DDDDZ)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=8, locals=12, args_size=6
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // double q0
        start local 3 // double q1
        start local 5 // double q2
        start local 7 // double q3
        start local 9 // boolean needsNormalization
         0: .line 134
            aload 0 /* this */
            invokespecial java.lang.Object.<init>:()V
         1: .line 137
            iload 9 /* needsNormalization */
            ifeq 7
         2: .line 139
            dconst_1
            dload 1 /* q0 */
            dload 1 /* q0 */
            dmul
            dload 3 /* q1 */
            dload 3 /* q1 */
            dmul
            dadd
            dload 5 /* q2 */
            dload 5 /* q2 */
            dmul
            dadd
            dload 7 /* q3 */
            dload 7 /* q3 */
            dmul
            dadd
            invokestatic org.apache.commons.math3.util.FastMath.sqrt:(D)D
            ddiv
            dstore 10 /* inv */
        start local 10 // double inv
         3: .line 140
            dload 1 /* q0 */
            dload 10 /* inv */
            dmul
            dstore 1 /* q0 */
         4: .line 141
            dload 3 /* q1 */
            dload 10 /* inv */
            dmul
            dstore 3 /* q1 */
         5: .line 142
            dload 5 /* q2 */
            dload 10 /* inv */
            dmul
            dstore 5 /* q2 */
         6: .line 143
            dload 7 /* q3 */
            dload 10 /* inv */
            dmul
            dstore 7 /* q3 */
        end local 10 // double inv
         7: .line 146
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Rotation double double double double int
      StackMap stack:
            aload 0 /* this */
            dload 1 /* q0 */
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
         8: .line 147
            aload 0 /* this */
            dload 3 /* q1 */
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
         9: .line 148
            aload 0 /* this */
            dload 5 /* q2 */
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
        10: .line 149
            aload 0 /* this */
            dload 7 /* q3 */
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
        11: .line 151
            return
        end local 9 // boolean needsNormalization
        end local 7 // double q3
        end local 5 // double q2
        end local 3 // double q1
        end local 1 // double q0
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot                Name  Signature
            0   12     0                this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0   12     1                  q0  D
            0   12     3                  q1  D
            0   12     5                  q2  D
            0   12     7                  q3  D
            0   12     9  needsNormalization  Z
            3    7    10                 inv  D
    MethodParameters:
                    Name  Flags
      q0                  
      q1                  
      q2                  
      q3                  
      needsNormalization  

  public void <init>(org.apache.commons.math3.geometry.euclidean.threed.Vector3D, double);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;D)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=5, locals=4, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D axis
        start local 2 // double angle
         0: .line 166
            aload 0 /* this */
            aload 1 /* axis */
            dload 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.Rotation.<init>:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;DLorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)V
         1: .line 167
            return
        end local 2 // double angle
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D axis
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot   Name  Signature
            0    2     0   this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    2     1   axis  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            0    2     2  angle  D
    Exceptions:
      throws org.apache.commons.math3.exception.MathIllegalArgumentException
    RuntimeVisibleAnnotations: 
      java.lang.Deprecated()
    MethodParameters:
       Name  Flags
      axis   
      angle  

  public void <init>(org.apache.commons.math3.geometry.euclidean.threed.Vector3D, double, org.apache.commons.math3.geometry.euclidean.threed.RotationConvention);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;DLorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=5, locals=11, args_size=4
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D axis
        start local 2 // double angle
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
         0: .line 176
            aload 0 /* this */
            invokespecial java.lang.Object.<init>:()V
         1: .line 179
            aload 1 /* axis */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getNorm:()D
            dstore 5 /* norm */
        start local 5 // double norm
         2: .line 180
            dload 5 /* norm */
            dconst_0
            dcmpl
            ifne 4
         3: .line 181
            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 184
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Rotation org.apache.commons.math3.geometry.euclidean.threed.Vector3D double org.apache.commons.math3.geometry.euclidean.threed.RotationConvention double
      StackMap stack:
            aload 4 /* 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
            dload 2 /* angle */
            dmul
            goto 6
      StackMap locals:
      StackMap stack:
         5: ldc 0.5
            dload 2 /* angle */
            dmul
      StackMap locals:
      StackMap stack: double
         6: dstore 7 /* halfAngle */
        start local 7 // double halfAngle
         7: .line 185
            dload 7 /* halfAngle */
            invokestatic org.apache.commons.math3.util.FastMath.sin:(D)D
            dload 5 /* norm */
            ddiv
            dstore 9 /* coeff */
        start local 9 // double coeff
         8: .line 187
            aload 0 /* this */
            dload 7 /* halfAngle */
            invokestatic org.apache.commons.math3.util.FastMath.cos:(D)D
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
         9: .line 188
            aload 0 /* this */
            dload 9 /* coeff */
            aload 1 /* axis */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            dmul
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
        10: .line 189
            aload 0 /* this */
            dload 9 /* coeff */
            aload 1 /* axis */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            dmul
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
        11: .line 190
            aload 0 /* this */
            dload 9 /* coeff */
            aload 1 /* axis */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            dmul
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
        12: .line 192
            return
        end local 9 // double coeff
        end local 7 // double halfAngle
        end local 5 // double norm
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
        end local 2 // double angle
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D axis
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot        Name  Signature
            0   13     0        this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0   13     1        axis  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            0   13     2       angle  D
            0   13     4  convention  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            2   13     5        norm  D
            7   13     7   halfAngle  D
            8   13     9       coeff  D
    Exceptions:
      throws org.apache.commons.math3.exception.MathIllegalArgumentException
    MethodParameters:
            Name  Flags
      axis        final
      angle       final
      convention  final

  public void <init>(double[][], double);
    descriptor: ([[DD)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=10, locals=8, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // double[][] m
        start local 2 // double threshold
         0: .line 224
            aload 0 /* this */
            invokespecial java.lang.Object.<init>:()V
         1: .line 228
            aload 1 /* m */
            arraylength
            iconst_3
            if_icmpne 3
            aload 1 /* m */
            iconst_0
            aaload
            arraylength
            iconst_3
            if_icmpne 3
         2: .line 229
            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 230
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Rotation double[][] double
      StackMap stack:
            new org.apache.commons.math3.geometry.euclidean.threed.NotARotationMatrixException
            dup
         4: .line 231
            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 232
            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 230
            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 236
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            aload 1 /* m */
            dload 2 /* threshold */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.orthogonalizeMatrix:([[DD)[[D
            astore 4 /* ort */
        start local 4 // double[][] ort
         8: .line 239
            aload 4 /* ort */
            iconst_0
            aaload
            iconst_0
            daload
            aload 4 /* ort */
            iconst_1
            aaload
            iconst_1
            daload
            aload 4 /* ort */
            iconst_2
            aaload
            iconst_2
            daload
            dmul
            aload 4 /* ort */
            iconst_2
            aaload
            iconst_1
            daload
            aload 4 /* ort */
            iconst_1
            aaload
            iconst_2
            daload
            dmul
            dsub
            dmul
         9: .line 240
            aload 4 /* ort */
            iconst_1
            aaload
            iconst_0
            daload
            aload 4 /* ort */
            iconst_0
            aaload
            iconst_1
            daload
            aload 4 /* ort */
            iconst_2
            aaload
            iconst_2
            daload
            dmul
            aload 4 /* ort */
            iconst_2
            aaload
            iconst_1
            daload
            aload 4 /* ort */
            iconst_0
            aaload
            iconst_2
            daload
            dmul
            dsub
            dmul
        10: .line 239
            dsub
        11: .line 241
            aload 4 /* ort */
            iconst_2
            aaload
            iconst_0
            daload
            aload 4 /* ort */
            iconst_0
            aaload
            iconst_1
            daload
            aload 4 /* ort */
            iconst_1
            aaload
            iconst_2
            daload
            dmul
            aload 4 /* ort */
            iconst_1
            aaload
            iconst_1
            daload
            aload 4 /* ort */
            iconst_0
            aaload
            iconst_2
            daload
            dmul
            dsub
            dmul
        12: .line 239
            dadd
            dstore 5 /* det */
        start local 5 // double det
        13: .line 242
            dload 5 /* det */
            dconst_0
            dcmpg
            ifge 18
        14: .line 243
            new org.apache.commons.math3.geometry.euclidean.threed.NotARotationMatrixException
            dup
        15: .line 244
            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 245
            dload 5 /* det */
            invokestatic java.lang.Double.valueOf:(D)Ljava/lang/Double;
        17: .line 243
            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 248
      StackMap locals: double[][] double
      StackMap stack:
            aload 4 /* ort */
            invokestatic org.apache.commons.math3.geometry.euclidean.threed.Rotation.mat2quat:([[D)[D
            astore 7 /* quat */
        start local 7 // double[] quat
        19: .line 249
            aload 0 /* this */
            aload 7 /* quat */
            iconst_0
            daload
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
        20: .line 250
            aload 0 /* this */
            aload 7 /* quat */
            iconst_1
            daload
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
        21: .line 251
            aload 0 /* this */
            aload 7 /* quat */
            iconst_2
            daload
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
        22: .line 252
            aload 0 /* this */
            aload 7 /* quat */
            iconst_3
            daload
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
        23: .line 254
            return
        end local 7 // double[] quat
        end local 5 // double det
        end local 4 // double[][] ort
        end local 2 // double threshold
        end local 1 // double[][] m
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot       Name  Signature
            0   24     0       this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0   24     1          m  [[D
            0   24     2  threshold  D
            8   24     4        ort  [[D
           13   24     5        det  D
           19   24     7       quat  [D
    Exceptions:
      throws org.apache.commons.math3.geometry.euclidean.threed.NotARotationMatrixException
    MethodParameters:
           Name  Flags
      m          
      threshold  

  public void <init>(org.apache.commons.math3.geometry.euclidean.threed.Vector3D, org.apache.commons.math3.geometry.euclidean.threed.Vector3D, org.apache.commons.math3.geometry.euclidean.threed.Vector3D, org.apache.commons.math3.geometry.euclidean.threed.Vector3D);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=18, locals=9, args_size=5
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D u1
        start local 2 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D u2
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
         0: .line 275
            aload 0 /* this */
            invokespecial java.lang.Object.<init>:()V
         1: .line 280
            aload 1 /* u1 */
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.crossProduct:(Lorg/apache/commons/math3/geometry/Vector;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.normalize:()Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 5 /* u3 */
        start local 5 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D u3
         2: .line 281
            aload 5 /* u3 */
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.crossProduct:(Lorg/apache/commons/math3/geometry/Vector;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.normalize:()Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 2 /* u2 */
         3: .line 282
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.normalize:()Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 1 /* u1 */
         4: .line 286
            aload 3 /* v1 */
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.crossProduct:(Lorg/apache/commons/math3/geometry/Vector;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.normalize:()Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 6 /* v3 */
        start local 6 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v3
         5: .line 287
            aload 6 /* v3 */
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.crossProduct:(Lorg/apache/commons/math3/geometry/Vector;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.normalize:()Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
         6: .line 288
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.normalize:()Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
         7: .line 291
            iconst_3
            anewarray double[]
            dup
            iconst_0
         8: .line 292
            iconst_3
            newarray 7
            dup
            iconst_0
         9: .line 293
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.MathArrays.linearCombination:(DDDDDD)D
            dastore
            dup
            iconst_1
        10: .line 294
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.MathArrays.linearCombination:(DDDDDD)D
            dastore
            dup
            iconst_2
        11: .line 295
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.MathArrays.linearCombination:(DDDDDD)D
            dastore
            aastore
            dup
            iconst_1
        12: .line 297
            iconst_3
            newarray 7
            dup
            iconst_0
        13: .line 298
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.MathArrays.linearCombination:(DDDDDD)D
            dastore
            dup
            iconst_1
        14: .line 299
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.MathArrays.linearCombination:(DDDDDD)D
            dastore
            dup
            iconst_2
        15: .line 300
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.MathArrays.linearCombination:(DDDDDD)D
            dastore
            aastore
            dup
            iconst_2
        16: .line 302
            iconst_3
            newarray 7
            dup
            iconst_0
        17: .line 303
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.MathArrays.linearCombination:(DDDDDD)D
            dastore
            dup
            iconst_1
        18: .line 304
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.MathArrays.linearCombination:(DDDDDD)D
            dastore
            dup
            iconst_2
        19: .line 305
            aload 1 /* u1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 2 /* u2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 5 /* u3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 6 /* v3 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.MathArrays.linearCombination:(DDDDDD)D
            dastore
            aastore
        20: .line 291
            astore 7 /* m */
        start local 7 // double[][] m
        21: .line 309
            aload 7 /* m */
            invokestatic org.apache.commons.math3.geometry.euclidean.threed.Rotation.mat2quat:([[D)[D
            astore 8 /* quat */
        start local 8 // double[] quat
        22: .line 310
            aload 0 /* this */
            aload 8 /* quat */
            iconst_0
            daload
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
        23: .line 311
            aload 0 /* this */
            aload 8 /* quat */
            iconst_1
            daload
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
        24: .line 312
            aload 0 /* this */
            aload 8 /* quat */
            iconst_2
            daload
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
        25: .line 313
            aload 0 /* this */
            aload 8 /* quat */
            iconst_3
            daload
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
        26: .line 315
            return
        end local 8 // double[] quat
        end local 7 // double[][] m
        end local 6 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v3
        end local 5 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D u3
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        end local 2 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D u2
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D u1
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0   27     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0   27     1    u1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            0   27     2    u2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            0   27     3    v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            0   27     4    v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            2   27     5    u3  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            5   27     6    v3  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           21   27     7     m  [[D
           22   27     8  quat  [D
    Exceptions:
      throws org.apache.commons.math3.exception.MathArithmeticException
    MethodParameters:
      Name  Flags
      u1    
      u2    
      v1    
      v2    

  public void <init>(org.apache.commons.math3.geometry.euclidean.threed.Vector3D, org.apache.commons.math3.geometry.euclidean.threed.Vector3D);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=9, locals=10, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D u
        start local 2 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v
         0: .line 330
            aload 0 /* this */
            invokespecial java.lang.Object.<init>:()V
         1: .line 332
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getNorm:()D
            aload 2 /* v */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getNorm:()D
            dmul
            dstore 3 /* normProduct */
        start local 3 // double normProduct
         2: .line 333
            dload 3 /* normProduct */
            dconst_0
            dcmpl
            ifne 4
         3: .line 334
            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 337
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Rotation org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D double
      StackMap stack:
            aload 1 /* u */
            aload 2 /* v */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.dotProduct:(Lorg/apache/commons/math3/geometry/Vector;)D
            dstore 5 /* dot */
        start local 5 // double dot
         5: .line 339
            dload 5 /* dot */
            ldc -0.999999999999998
            dload 3 /* normProduct */
            dmul
            dcmpg
            ifge 12
         6: .line 342
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.orthogonal:()Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 7 /* w */
        start local 7 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D w
         7: .line 343
            aload 0 /* this */
            dconst_0
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
         8: .line 344
            aload 0 /* this */
            aload 7 /* w */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            dneg
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
         9: .line 345
            aload 0 /* this */
            aload 7 /* w */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            dneg
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
        10: .line 346
            aload 0 /* this */
            aload 7 /* w */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            dneg
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
        end local 7 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D w
        11: .line 347
            goto 18
        12: .line 350
      StackMap locals: double
      StackMap stack:
            aload 0 /* this */
            ldc 0.5
            dconst_1
            dload 5 /* dot */
            dload 3 /* normProduct */
            ddiv
            dadd
            dmul
            invokestatic org.apache.commons.math3.util.FastMath.sqrt:(D)D
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
        13: .line 351
            dconst_1
            ldc 2.0
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            dload 3 /* normProduct */
            dmul
            ddiv
            dstore 7 /* coeff */
        start local 7 // double coeff
        14: .line 352
            aload 2 /* v */
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.crossProduct:(Lorg/apache/commons/math3/geometry/Vector;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 9 /* q */
        start local 9 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D q
        15: .line 353
            aload 0 /* this */
            dload 7 /* coeff */
            aload 9 /* q */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            dmul
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
        16: .line 354
            aload 0 /* this */
            dload 7 /* coeff */
            aload 9 /* q */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            dmul
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
        17: .line 355
            aload 0 /* this */
            dload 7 /* coeff */
            aload 9 /* q */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            dmul
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
        end local 9 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D q
        end local 7 // double coeff
        18: .line 358
      StackMap locals:
      StackMap stack:
            return
        end local 5 // double dot
        end local 3 // double normProduct
        end local 2 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D u
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot         Name  Signature
            0   19     0         this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0   19     1            u  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            0   19     2            v  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            2   19     3  normProduct  D
            5   19     5          dot  D
            7   11     7            w  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           14   18     7        coeff  D
           15   18     9            q  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
    Exceptions:
      throws org.apache.commons.math3.exception.MathArithmeticException
    MethodParameters:
      Name  Flags
      u     
      v     

  public void <init>(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder, double, double, double);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;DDD)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=9, locals=8, args_size=5
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order
        start local 2 // double alpha1
        start local 4 // double alpha2
        start local 6 // double alpha3
         0: .line 378
            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;
            dload 2 /* alpha1 */
            dload 4 /* alpha2 */
            dload 6 /* alpha3 */
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.Rotation.<init>:(Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;DDD)V
         1: .line 379
            return
        end local 6 // double alpha3
        end local 4 // double alpha2
        end local 2 // double alpha1
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot    Name  Signature
            0    2     0    this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    2     1   order  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            0    2     2  alpha1  D
            0    2     4  alpha2  D
            0    2     6  alpha3  D
    RuntimeVisibleAnnotations: 
      java.lang.Deprecated()
    MethodParameters:
        Name  Flags
      order   
      alpha1  
      alpha2  
      alpha3  

  public void <init>(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder, org.apache.commons.math3.geometry.euclidean.threed.RotationConvention, double, double, double);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;DDD)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=6, locals=13, args_size=6
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation 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 // double alpha1
        start local 5 // double alpha2
        start local 7 // double alpha3
         0: .line 403
            aload 0 /* this */
            invokespecial java.lang.Object.<init>:()V
         1: .line 405
            new org.apache.commons.math3.geometry.euclidean.threed.Rotation
            dup
            aload 1 /* order */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.getA1:()Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            dload 3 /* alpha1 */
            aload 2 /* convention */
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.Rotation.<init>:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;DLorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)V
            astore 9 /* r1 */
        start local 9 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r1
         2: .line 406
            new org.apache.commons.math3.geometry.euclidean.threed.Rotation
            dup
            aload 1 /* order */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.getA2:()Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            dload 5 /* alpha2 */
            aload 2 /* convention */
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.Rotation.<init>:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;DLorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)V
            astore 10 /* r2 */
        start local 10 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r2
         3: .line 407
            new org.apache.commons.math3.geometry.euclidean.threed.Rotation
            dup
            aload 1 /* order */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.getA3:()Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            dload 7 /* alpha3 */
            aload 2 /* convention */
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.Rotation.<init>:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;DLorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)V
            astore 11 /* r3 */
        start local 11 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r3
         4: .line 408
            aload 9 /* r1 */
            aload 10 /* r2 */
            aload 11 /* r3 */
            aload 2 /* convention */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.compose:(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            aload 2 /* convention */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.compose:(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            astore 12 /* composed */
        start local 12 // org.apache.commons.math3.geometry.euclidean.threed.Rotation composed
         5: .line 409
            aload 0 /* this */
            aload 12 /* composed */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
         6: .line 410
            aload 0 /* this */
            aload 12 /* composed */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
         7: .line 411
            aload 0 /* this */
            aload 12 /* composed */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
         8: .line 412
            aload 0 /* this */
            aload 12 /* composed */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            putfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
         9: .line 413
            return
        end local 12 // org.apache.commons.math3.geometry.euclidean.threed.Rotation composed
        end local 11 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r3
        end local 10 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r2
        end local 9 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r1
        end local 7 // double alpha3
        end local 5 // double alpha2
        end local 3 // double 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.Rotation this
      LocalVariableTable:
        Start  End  Slot        Name  Signature
            0   10     0        this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0   10     1       order  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            0   10     2  convention  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            0   10     3      alpha1  D
            0   10     5      alpha2  D
            0   10     7      alpha3  D
            2   10     9          r1  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            3   10    10          r2  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            4   10    11          r3  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            5   10    12    composed  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
    MethodParameters:
            Name  Flags
      order       
      convention  
      alpha1      
      alpha2      
      alpha3      

  private static double[] mat2quat(double[][]);
    descriptor: ([[D)[D
    flags: (0x000a) ACC_PRIVATE, ACC_STATIC
    Code:
      stack=8, locals=6, args_size=1
        start local 0 // double[][] ort
         0: .line 421
            iconst_4
            newarray 7
            astore 1 /* quat */
        start local 1 // double[] quat
         1: .line 434
            aload 0 /* ort */
            iconst_0
            aaload
            iconst_0
            daload
            aload 0 /* ort */
            iconst_1
            aaload
            iconst_1
            daload
            dadd
            aload 0 /* ort */
            iconst_2
            aaload
            iconst_2
            daload
            dadd
            dstore 2 /* s */
        start local 2 // double s
         2: .line 435
            dload 2 /* s */
            ldc -0.19
            dcmpl
            ifle 9
         3: .line 437
            aload 1 /* quat */
            iconst_0
            ldc 0.5
            dload 2 /* s */
            dconst_1
            dadd
            invokestatic org.apache.commons.math3.util.FastMath.sqrt:(D)D
            dmul
            dastore
         4: .line 438
            ldc 0.25
            aload 1 /* quat */
            iconst_0
            daload
            ddiv
            dstore 4 /* inv */
        start local 4 // double inv
         5: .line 439
            aload 1 /* quat */
            iconst_1
            dload 4 /* inv */
            aload 0 /* ort */
            iconst_1
            aaload
            iconst_2
            daload
            aload 0 /* ort */
            iconst_2
            aaload
            iconst_1
            daload
            dsub
            dmul
            dastore
         6: .line 440
            aload 1 /* quat */
            iconst_2
            dload 4 /* inv */
            aload 0 /* ort */
            iconst_2
            aaload
            iconst_0
            daload
            aload 0 /* ort */
            iconst_0
            aaload
            iconst_2
            daload
            dsub
            dmul
            dastore
         7: .line 441
            aload 1 /* quat */
            iconst_3
            dload 4 /* inv */
            aload 0 /* ort */
            iconst_0
            aaload
            iconst_1
            daload
            aload 0 /* ort */
            iconst_1
            aaload
            iconst_0
            daload
            dsub
            dmul
            dastore
        end local 4 // double inv
         8: .line 442
            goto 31
         9: .line 443
      StackMap locals: double[] double
      StackMap stack:
            aload 0 /* ort */
            iconst_0
            aaload
            iconst_0
            daload
            aload 0 /* ort */
            iconst_1
            aaload
            iconst_1
            daload
            dsub
            aload 0 /* ort */
            iconst_2
            aaload
            iconst_2
            daload
            dsub
            dstore 2 /* s */
        10: .line 444
            dload 2 /* s */
            ldc -0.19
            dcmpl
            ifle 17
        11: .line 446
            aload 1 /* quat */
            iconst_1
            ldc 0.5
            dload 2 /* s */
            dconst_1
            dadd
            invokestatic org.apache.commons.math3.util.FastMath.sqrt:(D)D
            dmul
            dastore
        12: .line 447
            ldc 0.25
            aload 1 /* quat */
            iconst_1
            daload
            ddiv
            dstore 4 /* inv */
        start local 4 // double inv
        13: .line 448
            aload 1 /* quat */
            iconst_0
            dload 4 /* inv */
            aload 0 /* ort */
            iconst_1
            aaload
            iconst_2
            daload
            aload 0 /* ort */
            iconst_2
            aaload
            iconst_1
            daload
            dsub
            dmul
            dastore
        14: .line 449
            aload 1 /* quat */
            iconst_2
            dload 4 /* inv */
            aload 0 /* ort */
            iconst_0
            aaload
            iconst_1
            daload
            aload 0 /* ort */
            iconst_1
            aaload
            iconst_0
            daload
            dadd
            dmul
            dastore
        15: .line 450
            aload 1 /* quat */
            iconst_3
            dload 4 /* inv */
            aload 0 /* ort */
            iconst_0
            aaload
            iconst_2
            daload
            aload 0 /* ort */
            iconst_2
            aaload
            iconst_0
            daload
            dadd
            dmul
            dastore
        end local 4 // double inv
        16: .line 451
            goto 31
        17: .line 452
      StackMap locals:
      StackMap stack:
            aload 0 /* ort */
            iconst_1
            aaload
            iconst_1
            daload
            aload 0 /* ort */
            iconst_0
            aaload
            iconst_0
            daload
            dsub
            aload 0 /* ort */
            iconst_2
            aaload
            iconst_2
            daload
            dsub
            dstore 2 /* s */
        18: .line 453
            dload 2 /* s */
            ldc -0.19
            dcmpl
            ifle 25
        19: .line 455
            aload 1 /* quat */
            iconst_2
            ldc 0.5
            dload 2 /* s */
            dconst_1
            dadd
            invokestatic org.apache.commons.math3.util.FastMath.sqrt:(D)D
            dmul
            dastore
        20: .line 456
            ldc 0.25
            aload 1 /* quat */
            iconst_2
            daload
            ddiv
            dstore 4 /* inv */
        start local 4 // double inv
        21: .line 457
            aload 1 /* quat */
            iconst_0
            dload 4 /* inv */
            aload 0 /* ort */
            iconst_2
            aaload
            iconst_0
            daload
            aload 0 /* ort */
            iconst_0
            aaload
            iconst_2
            daload
            dsub
            dmul
            dastore
        22: .line 458
            aload 1 /* quat */
            iconst_1
            dload 4 /* inv */
            aload 0 /* ort */
            iconst_0
            aaload
            iconst_1
            daload
            aload 0 /* ort */
            iconst_1
            aaload
            iconst_0
            daload
            dadd
            dmul
            dastore
        23: .line 459
            aload 1 /* quat */
            iconst_3
            dload 4 /* inv */
            aload 0 /* ort */
            iconst_2
            aaload
            iconst_1
            daload
            aload 0 /* ort */
            iconst_1
            aaload
            iconst_2
            daload
            dadd
            dmul
            dastore
        end local 4 // double inv
        24: .line 460
            goto 31
        25: .line 462
      StackMap locals:
      StackMap stack:
            aload 0 /* ort */
            iconst_2
            aaload
            iconst_2
            daload
            aload 0 /* ort */
            iconst_0
            aaload
            iconst_0
            daload
            dsub
            aload 0 /* ort */
            iconst_1
            aaload
            iconst_1
            daload
            dsub
            dstore 2 /* s */
        26: .line 463
            aload 1 /* quat */
            iconst_3
            ldc 0.5
            dload 2 /* s */
            dconst_1
            dadd
            invokestatic org.apache.commons.math3.util.FastMath.sqrt:(D)D
            dmul
            dastore
        27: .line 464
            ldc 0.25
            aload 1 /* quat */
            iconst_3
            daload
            ddiv
            dstore 4 /* inv */
        start local 4 // double inv
        28: .line 465
            aload 1 /* quat */
            iconst_0
            dload 4 /* inv */
            aload 0 /* ort */
            iconst_0
            aaload
            iconst_1
            daload
            aload 0 /* ort */
            iconst_1
            aaload
            iconst_0
            daload
            dsub
            dmul
            dastore
        29: .line 466
            aload 1 /* quat */
            iconst_1
            dload 4 /* inv */
            aload 0 /* ort */
            iconst_0
            aaload
            iconst_2
            daload
            aload 0 /* ort */
            iconst_2
            aaload
            iconst_0
            daload
            dadd
            dmul
            dastore
        30: .line 467
            aload 1 /* quat */
            iconst_2
            dload 4 /* inv */
            aload 0 /* ort */
            iconst_2
            aaload
            iconst_1
            daload
            aload 0 /* ort */
            iconst_1
            aaload
            iconst_2
            daload
            dadd
            dmul
            dastore
        end local 4 // double inv
        31: .line 472
      StackMap locals:
      StackMap stack:
            aload 1 /* quat */
            areturn
        end local 2 // double s
        end local 1 // double[] quat
        end local 0 // double[][] ort
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0   32     0   ort  [[D
            1   32     1  quat  [D
            2   32     2     s  D
            5    8     4   inv  D
           13   16     4   inv  D
           21   24     4   inv  D
           28   31     4   inv  D
    MethodParameters:
      Name  Flags
      ort   final

  public org.apache.commons.math3.geometry.euclidean.threed.Rotation revert();
    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.Rotation this
         0: .line 484
            new org.apache.commons.math3.geometry.euclidean.threed.Rotation
            dup
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dneg
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3: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.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;

  public double getQ0();
    descriptor: ()D
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=2, locals=1, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
         0: .line 491
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dreturn
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;

  public double getQ1();
    descriptor: ()D
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=2, locals=1, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
         0: .line 498
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dreturn
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;

  public double getQ2();
    descriptor: ()D
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=2, locals=1, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
         0: .line 505
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dreturn
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;

  public double getQ3();
    descriptor: ()D
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=2, locals=1, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
         0: .line 512
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dreturn
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;

  public org.apache.commons.math3.geometry.euclidean.threed.Vector3D getAxis();
    descriptor: ()Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=2, locals=1, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
         0: .line 526
            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.Rotation.getAxis:(Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            areturn
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
    RuntimeVisibleAnnotations: 
      java.lang.Deprecated()

  public org.apache.commons.math3.geometry.euclidean.threed.Vector3D 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/Vector3D;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=10, locals=8, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
         0: .line 541
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            dadd
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dadd
            dstore 2 /* squaredSine */
        start local 2 // double squaredSine
         1: .line 542
            dload 2 /* squaredSine */
            dconst_0
            dcmpl
            ifne 5
         2: .line 543
            aload 1 /* convention */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            if_acmpne 3
            getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.PLUS_I:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            goto 4
      StackMap locals: double
      StackMap stack:
         3: getstatic org.apache.commons.math3.geometry.euclidean.threed.Vector3D.MINUS_I:Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
      StackMap locals:
      StackMap stack: org.apache.commons.math3.geometry.euclidean.threed.Vector3D
         4: areturn
         5: .line 545
      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 6
            iconst_1
            goto 7
      StackMap locals:
      StackMap stack:
         6: iconst_m1
      StackMap locals:
      StackMap stack: int
         7: i2d
            dstore 4 /* sgn */
        start local 4 // double sgn
         8: .line 546
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dconst_0
            dcmpg
            ifge 11
         9: .line 547
            dload 4 /* sgn */
            dload 2 /* squaredSine */
            invokestatic org.apache.commons.math3.util.FastMath.sqrt:(D)D
            ddiv
            dstore 6 /* inverse */
        start local 6 // double inverse
        10: .line 548
            new org.apache.commons.math3.geometry.euclidean.threed.Vector3D
            dup
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dload 6 /* inverse */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dload 6 /* inverse */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dload 6 /* inverse */
            dmul
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.Vector3D.<init>:(DDD)V
            areturn
        end local 6 // double inverse
        11: .line 550
      StackMap locals: double
      StackMap stack:
            dload 4 /* sgn */
            dneg
            dload 2 /* squaredSine */
            invokestatic org.apache.commons.math3.util.FastMath.sqrt:(D)D
            ddiv
            dstore 6 /* inverse */
        start local 6 // double inverse
        12: .line 551
            new org.apache.commons.math3.geometry.euclidean.threed.Vector3D
            dup
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dload 6 /* inverse */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dload 6 /* inverse */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dload 6 /* inverse */
            dmul
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.Vector3D.<init>:(DDD)V
            areturn
        end local 6 // double inverse
        end local 4 // double sgn
        end local 2 // double squaredSine
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationConvention convention
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot         Name  Signature
            0   13     0         this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0   13     1   convention  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            1   13     2  squaredSine  D
            8   13     4          sgn  D
           10   11     6      inverse  D
           12   13     6      inverse  D
    MethodParameters:
            Name  Flags
      convention  final

  public double getAngle();
    descriptor: ()D
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=8, locals=1, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
         0: .line 560
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            ldc -0.1
            dcmpg
            iflt 1
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            ldc 0.1
            dcmpl
            ifle 2
         1: .line 561
      StackMap locals:
      StackMap stack:
            ldc 2.0
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            dadd
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dadd
            invokestatic org.apache.commons.math3.util.FastMath.sqrt:(D)D
            invokestatic org.apache.commons.math3.util.FastMath.asin:(D)D
            dmul
            dreturn
         2: .line 562
      StackMap locals:
      StackMap stack:
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dconst_0
            dcmpg
            ifge 4
         3: .line 563
            ldc 2.0
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dneg
            invokestatic org.apache.commons.math3.util.FastMath.acos:(D)D
            dmul
            dreturn
         4: .line 565
      StackMap locals:
      StackMap stack:
            ldc 2.0
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            invokestatic org.apache.commons.math3.util.FastMath.acos:(D)D
            dmul
            dreturn
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    5     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;

  public double[] getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;)[D
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=3, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order
         0: .line 585
            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.Rotation.getAngles:(Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)[D
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot   Name  Signature
            0    1     0   this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    1     1  order  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
    Exceptions:
      throws org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
    RuntimeVisibleAnnotations: 
      java.lang.Deprecated()
    MethodParameters:
       Name  Flags
      order  

  public double[] 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;)[D
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=7, locals=5, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation 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 628
            aload 2 /* convention */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationConvention.VECTOR_OPERATOR:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            if_acmpne 120
         1: .line 629
            aload 1 /* order */
            getstatic org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ:Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            if_acmpne 11
         2: .line 636
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
         3: .line 637
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
         4: .line 638
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc -0.9999999999
            dcmpg
            iflt 5
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc 0.9999999999
            dcmpl
            ifle 6
         5: .line 639
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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 641
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
         7: .line 642
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            dneg
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
         8: .line 643
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.asin:(D)D
            dastore
            dup
            iconst_2
         9: .line 644
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            dneg
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
        10: .line 641
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        11: .line 647
      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 21
        12: .line 654
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        13: .line 655
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        14: .line 656
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc -0.9999999999
            dcmpg
            iflt 15
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc 0.9999999999
            dcmpl
            ifle 16
        15: .line 657
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
        16: .line 659
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
        17: .line 660
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
        18: .line 661
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.asin:(D)D
            dneg
            dastore
            dup
            iconst_2
        19: .line 662
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
        20: .line 659
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        21: .line 665
      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 31
        22: .line 672
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        23: .line 673
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        24: .line 674
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc -0.9999999999
            dcmpg
            iflt 25
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc 0.9999999999
            dcmpl
            ifle 26
        25: .line 675
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
        26: .line 677
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
        27: .line 678
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
        28: .line 679
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.asin:(D)D
            dneg
            dastore
            dup
            iconst_2
        29: .line 680
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
        30: .line 677
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        31: .line 683
      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 41
        32: .line 690
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        33: .line 691
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        34: .line 692
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc -0.9999999999
            dcmpg
            iflt 35
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc 0.9999999999
            dcmpl
            ifle 36
        35: .line 693
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
        36: .line 695
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
        37: .line 696
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            dneg
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
        38: .line 697
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.asin:(D)D
            dastore
            dup
            iconst_2
        39: .line 698
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            dneg
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
        40: .line 695
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        41: .line 701
      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 51
        42: .line 708
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        43: .line 709
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        44: .line 710
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc -0.9999999999
            dcmpg
            iflt 45
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc 0.9999999999
            dcmpl
            ifle 46
        45: .line 711
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
        46: .line 713
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
        47: .line 714
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            dneg
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
        48: .line 715
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.asin:(D)D
            dastore
            dup
            iconst_2
        49: .line 716
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            dneg
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
        50: .line 713
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        51: .line 719
      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 61
        52: .line 726
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        53: .line 727
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        54: .line 728
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc -0.9999999999
            dcmpg
            iflt 55
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc 0.9999999999
            dcmpl
            ifle 56
        55: .line 729
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
        56: .line 731
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
        57: .line 732
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
        58: .line 733
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.asin:(D)D
            dneg
            dastore
            dup
            iconst_2
        59: .line 734
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
        60: .line 731
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        61: .line 737
      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 71
        62: .line 744
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        63: .line 745
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        64: .line 746
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc -0.9999999999
            dcmpg
            iflt 65
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc 0.9999999999
            dcmpl
            ifle 66
        65: .line 747
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
        66: .line 749
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
        67: .line 750
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            dneg
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
        68: .line 751
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.acos:(D)D
            dastore
            dup
            iconst_2
        69: .line 752
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
        70: .line 749
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        71: .line 755
      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 81
        72: .line 762
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        73: .line 763
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        74: .line 764
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc -0.9999999999
            dcmpg
            iflt 75
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc 0.9999999999
            dcmpl
            ifle 76
        75: .line 765
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
        76: .line 767
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
        77: .line 768
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
        78: .line 769
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.acos:(D)D
            dastore
            dup
            iconst_2
        79: .line 770
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            dneg
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
        80: .line 767
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        81: .line 773
      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 91
        82: .line 780
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        83: .line 781
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        84: .line 782
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc -0.9999999999
            dcmpg
            iflt 85
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc 0.9999999999
            dcmpl
            ifle 86
        85: .line 783
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
        86: .line 785
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
        87: .line 786
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
        88: .line 787
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.acos:(D)D
            dastore
            dup
            iconst_2
        89: .line 788
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            dneg
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
        90: .line 785
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        91: .line 791
      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 101
        92: .line 798
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
        93: .line 799
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        94: .line 800
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc -0.9999999999
            dcmpg
            iflt 95
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc 0.9999999999
            dcmpl
            ifle 96
        95: .line 801
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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 803
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
        97: .line 804
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            dneg
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
        98: .line 805
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.acos:(D)D
            dastore
            dup
            iconst_2
        99: .line 806
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
       100: .line 803
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       101: .line 809
      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 111
       102: .line 816
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       103: .line 817
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
       104: .line 818
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc -0.9999999999
            dcmpg
            iflt 105
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc 0.9999999999
            dcmpl
            ifle 106
       105: .line 819
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
       106: .line 821
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
       107: .line 822
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            dneg
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
       108: .line 823
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.acos:(D)D
            dastore
            dup
            iconst_2
       109: .line 824
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
       110: .line 821
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       111: .line 834
      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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       112: .line 835
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
       113: .line 836
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc -0.9999999999
            dcmpg
            iflt 114
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc 0.9999999999
            dcmpl
            ifle 115
       114: .line 837
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
       115: .line 839
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
       116: .line 840
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
       117: .line 841
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.acos:(D)D
            dastore
            dup
            iconst_2
       118: .line 842
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            dneg
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
       119: .line 839
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       120: .line 847
      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 130
       121: .line 854
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       122: .line 855
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
       123: .line 856
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc -0.9999999999
            dcmpg
            iflt 124
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc 0.9999999999
            dcmpl
            ifle 125
       124: .line 857
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
       125: .line 859
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
       126: .line 860
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            dneg
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
       127: .line 861
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.asin:(D)D
            dastore
            dup
            iconst_2
       128: .line 862
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            dneg
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
       129: .line 859
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       130: .line 865
      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 140
       131: .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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       132: .line 873
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
       133: .line 874
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc -0.9999999999
            dcmpg
            iflt 134
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc 0.9999999999
            dcmpl
            ifle 135
       134: .line 875
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
       135: .line 877
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
       136: .line 878
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
       137: .line 879
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.asin:(D)D
            dneg
            dastore
            dup
            iconst_2
       138: .line 880
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
       139: .line 877
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       140: .line 883
      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 150
       141: .line 890
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       142: .line 891
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
       143: .line 892
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc -0.9999999999
            dcmpg
            iflt 144
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc 0.9999999999
            dcmpl
            ifle 145
       144: .line 893
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
       145: .line 895
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
       146: .line 896
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
       147: .line 897
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.asin:(D)D
            dneg
            dastore
            dup
            iconst_2
       148: .line 898
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
       149: .line 895
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       150: .line 901
      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 160
       151: .line 908
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       152: .line 909
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
       153: .line 910
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc -0.9999999999
            dcmpg
            iflt 154
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc 0.9999999999
            dcmpl
            ifle 155
       154: .line 911
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
       155: .line 913
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
       156: .line 914
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            dneg
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
       157: .line 915
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.asin:(D)D
            dastore
            dup
            iconst_2
       158: .line 916
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            dneg
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
       159: .line 913
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       160: .line 919
      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 170
       161: .line 926
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       162: .line 927
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
       163: .line 928
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc -0.9999999999
            dcmpg
            iflt 164
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc 0.9999999999
            dcmpl
            ifle 165
       164: .line 929
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
       165: .line 931
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
       166: .line 932
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            dneg
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
       167: .line 933
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.asin:(D)D
            dastore
            dup
            iconst_2
       168: .line 934
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            dneg
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
       169: .line 931
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       170: .line 937
      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 180
       171: .line 944
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       172: .line 945
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
       173: .line 946
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc -0.9999999999
            dcmpg
            iflt 174
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc 0.9999999999
            dcmpl
            ifle 175
       174: .line 947
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
       175: .line 949
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
       176: .line 950
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
       177: .line 951
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.asin:(D)D
            dneg
            dastore
            dup
            iconst_2
       178: .line 952
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
       179: .line 949
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       180: .line 955
      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 190
       181: .line 962
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       182: .line 963
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
       183: .line 964
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc -0.9999999999
            dcmpg
            iflt 184
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc 0.9999999999
            dcmpl
            ifle 185
       184: .line 965
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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 967
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
       186: .line 968
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            dneg
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
       187: .line 969
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.acos:(D)D
            dastore
            dup
            iconst_2
       188: .line 970
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
       189: .line 967
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       190: .line 973
      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 200
       191: .line 980
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       192: .line 981
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
       193: .line 982
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc -0.9999999999
            dcmpg
            iflt 194
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            ldc 0.9999999999
            dcmpl
            ifle 195
       194: .line 983
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
       195: .line 985
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
       196: .line 986
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
       197: .line 987
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.acos:(D)D
            dastore
            dup
            iconst_2
       198: .line 988
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            dneg
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
       199: .line 985
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       200: .line 991
      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 210
       201: .line 998
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       202: .line 999
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
       203: .line 1000
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc -0.9999999999
            dcmpg
            iflt 204
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc 0.9999999999
            dcmpl
            ifle 205
       204: .line 1001
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
       205: .line 1003
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
       206: .line 1004
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
       207: .line 1005
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.acos:(D)D
            dastore
            dup
            iconst_2
       208: .line 1006
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            dneg
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
       209: .line 1003
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       210: .line 1009
      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 220
       211: .line 1016
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       212: .line 1017
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
       213: .line 1018
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc -0.9999999999
            dcmpg
            iflt 214
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            ldc 0.9999999999
            dcmpl
            ifle 215
       214: .line 1019
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
       215: .line 1021
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
       216: .line 1022
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            dneg
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
       217: .line 1023
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.acos:(D)D
            dastore
            dup
            iconst_2
       218: .line 1024
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
       219: .line 1021
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       220: .line 1027
      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 230
       221: .line 1034
            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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       222: .line 1035
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
       223: .line 1036
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc -0.9999999999
            dcmpg
            iflt 224
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc 0.9999999999
            dcmpl
            ifle 225
       224: .line 1037
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
       225: .line 1039
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
       226: .line 1040
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            dneg
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
       227: .line 1041
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.acos:(D)D
            dastore
            dup
            iconst_2
       228: .line 1042
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
       229: .line 1039
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       230: .line 1052
      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.Rotation.applyTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 3 /* v1 */
        start local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v1
       231: .line 1053
            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.Rotation.applyInverseTo:(Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;)Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            astore 4 /* v2 */
        start local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
       232: .line 1054
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc -0.9999999999
            dcmpg
            iflt 233
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            ldc 0.9999999999
            dcmpl
            ifle 234
       233: .line 1055
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Vector3D org.apache.commons.math3.geometry.euclidean.threed.Vector3D
      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
       234: .line 1057
      StackMap locals:
      StackMap stack:
            iconst_3
            newarray 7
            dup
            iconst_0
       235: .line 1058
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
            dup
            iconst_1
       236: .line 1059
            aload 4 /* v2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            invokestatic org.apache.commons.math3.util.FastMath.acos:(D)D
            dastore
            dup
            iconst_2
       237: .line 1060
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            aload 3 /* v1 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            dneg
            invokestatic org.apache.commons.math3.util.FastMath.atan2:(DD)D
            dastore
       238: .line 1057
            areturn
        end local 4 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D v2
        end local 3 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D 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.Rotation this
      LocalVariableTable:
        Start  End  Slot        Name  Signature
            0  239     0        this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0  239     1       order  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationOrder;
            0  239     2  convention  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
            3   11     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
            4   11     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           13   21     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           14   21     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           23   31     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           24   31     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           33   41     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           34   41     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           43   51     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           44   51     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           53   61     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           54   61     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           63   71     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           64   71     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           73   81     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           74   81     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           83   91     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           84   91     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           93  101     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
           94  101     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          103  111     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          104  111     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          112  120     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          113  120     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          122  130     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          123  130     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          132  140     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          133  140     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          142  150     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          143  150     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          152  160     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          153  160     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          162  170     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          163  170     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          172  180     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          173  180     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          182  190     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          183  190     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          192  200     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          193  200     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          202  210     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          203  210     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          212  220     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          213  220     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          222  230     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          223  230     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          231  239     3          v1  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
          232  239     4          v2  Lorg/apache/commons/math3/geometry/euclidean/threed/Vector3D;
    Exceptions:
      throws org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException
    MethodParameters:
            Name  Flags
      order       
      convention  

  public double[][] getMatrix();
    descriptor: ()[[D
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=8, locals=22, args_size=1
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
         0: .line 1074
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            dstore 1 /* q0q0 */
        start local 1 // double q0q0
         1: .line 1075
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            dstore 3 /* q0q1 */
        start local 3 // double q0q1
         2: .line 1076
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            dstore 5 /* q0q2 */
        start local 5 // double q0q2
         3: .line 1077
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dstore 7 /* q0q3 */
        start local 7 // double q0q3
         4: .line 1078
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            dstore 9 /* q1q1 */
        start local 9 // double q1q1
         5: .line 1079
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            dstore 11 /* q1q2 */
        start local 11 // double q1q2
         6: .line 1080
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dstore 13 /* q1q3 */
        start local 13 // double q1q3
         7: .line 1081
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            dstore 15 /* q2q2 */
        start local 15 // double q2q2
         8: .line 1082
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dstore 17 /* q2q3 */
        start local 17 // double q2q3
         9: .line 1083
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dstore 19 /* q3q3 */
        start local 19 // double q3q3
        10: .line 1086
            iconst_3
            anewarray double[]
            astore 21 /* m */
        start local 21 // double[][] m
        11: .line 1087
            aload 21 /* m */
            iconst_0
            iconst_3
            newarray 7
            aastore
        12: .line 1088
            aload 21 /* m */
            iconst_1
            iconst_3
            newarray 7
            aastore
        13: .line 1089
            aload 21 /* m */
            iconst_2
            iconst_3
            newarray 7
            aastore
        14: .line 1091
            aload 21 /* m */
            iconst_0
            aaload
            iconst_0
            ldc 2.0
            dload 1 /* q0q0 */
            dload 9 /* q1q1 */
            dadd
            dmul
            dconst_1
            dsub
            dastore
        15: .line 1092
            aload 21 /* m */
            iconst_1
            aaload
            iconst_0
            ldc 2.0
            dload 11 /* q1q2 */
            dload 7 /* q0q3 */
            dsub
            dmul
            dastore
        16: .line 1093
            aload 21 /* m */
            iconst_2
            aaload
            iconst_0
            ldc 2.0
            dload 13 /* q1q3 */
            dload 5 /* q0q2 */
            dadd
            dmul
            dastore
        17: .line 1095
            aload 21 /* m */
            iconst_0
            aaload
            iconst_1
            ldc 2.0
            dload 11 /* q1q2 */
            dload 7 /* q0q3 */
            dadd
            dmul
            dastore
        18: .line 1096
            aload 21 /* m */
            iconst_1
            aaload
            iconst_1
            ldc 2.0
            dload 1 /* q0q0 */
            dload 15 /* q2q2 */
            dadd
            dmul
            dconst_1
            dsub
            dastore
        19: .line 1097
            aload 21 /* m */
            iconst_2
            aaload
            iconst_1
            ldc 2.0
            dload 17 /* q2q3 */
            dload 3 /* q0q1 */
            dsub
            dmul
            dastore
        20: .line 1099
            aload 21 /* m */
            iconst_0
            aaload
            iconst_2
            ldc 2.0
            dload 13 /* q1q3 */
            dload 5 /* q0q2 */
            dsub
            dmul
            dastore
        21: .line 1100
            aload 21 /* m */
            iconst_1
            aaload
            iconst_2
            ldc 2.0
            dload 17 /* q2q3 */
            dload 3 /* q0q1 */
            dadd
            dmul
            dastore
        22: .line 1101
            aload 21 /* m */
            iconst_2
            aaload
            iconst_2
            ldc 2.0
            dload 1 /* q0q0 */
            dload 19 /* q3q3 */
            dadd
            dmul
            dconst_1
            dsub
            dastore
        23: .line 1103
            aload 21 /* m */
            areturn
        end local 21 // double[][] m
        end local 19 // double q3q3
        end local 17 // double q2q3
        end local 15 // double q2q2
        end local 13 // double q1q3
        end local 11 // double q1q2
        end local 9 // double q1q1
        end local 7 // double q0q3
        end local 5 // double q0q2
        end local 3 // double q0q1
        end local 1 // double q0q0
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0   24     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            1   24     1  q0q0  D
            2   24     3  q0q1  D
            3   24     5  q0q2  D
            4   24     7  q0q3  D
            5   24     9  q1q1  D
            6   24    11  q1q2  D
            7   24    13  q1q3  D
            8   24    15  q2q2  D
            9   24    17  q2q3  D
           10   24    19  q3q3  D
           11   24    21     m  [[D

  public org.apache.commons.math3.geometry.euclidean.threed.Vector3D 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/Vector3D;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=18, locals=10, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D u
         0: .line 1113
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            dstore 2 /* x */
        start local 2 // double x
         1: .line 1114
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            dstore 4 /* y */
        start local 4 // double y
         2: .line 1115
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            dstore 6 /* z */
        start local 6 // double z
         3: .line 1117
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dload 2 /* x */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dload 4 /* y */
            dmul
            dadd
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dload 6 /* z */
            dmul
            dadd
            dstore 8 /* s */
        start local 8 // double s
         4: .line 1119
            new org.apache.commons.math3.geometry.euclidean.threed.Vector3D
            dup
            ldc 2.0
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dload 2 /* x */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dload 6 /* z */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dload 4 /* y */
            dmul
            dsub
            dsub
            dmul
            dload 8 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            dadd
            dmul
            dload 2 /* x */
            dsub
         5: .line 1120
            ldc 2.0
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dload 4 /* y */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dload 2 /* x */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dload 6 /* z */
            dmul
            dsub
            dsub
            dmul
            dload 8 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            dadd
            dmul
            dload 4 /* y */
            dsub
         6: .line 1121
            ldc 2.0
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dload 6 /* z */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dload 4 /* y */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dload 2 /* x */
            dmul
            dsub
            dsub
            dmul
            dload 8 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dadd
            dmul
            dload 6 /* z */
            dsub
         7: .line 1119
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.Vector3D.<init>:(DDD)V
            areturn
        end local 8 // double 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.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    8     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            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  D
    MethodParameters:
      Name  Flags
      u     

  public void applyTo(double[], double[]);
    descriptor: ([D[D)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=14, locals=11, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // double[] in
        start local 2 // double[] out
         0: .line 1132
            aload 1 /* in */
            iconst_0
            daload
            dstore 3 /* x */
        start local 3 // double x
         1: .line 1133
            aload 1 /* in */
            iconst_1
            daload
            dstore 5 /* y */
        start local 5 // double y
         2: .line 1134
            aload 1 /* in */
            iconst_2
            daload
            dstore 7 /* z */
        start local 7 // double z
         3: .line 1136
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dload 3 /* x */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dload 5 /* y */
            dmul
            dadd
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dload 7 /* z */
            dmul
            dadd
            dstore 9 /* s */
        start local 9 // double s
         4: .line 1138
            aload 2 /* out */
            iconst_0
            ldc 2.0
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dload 3 /* x */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dload 7 /* z */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dload 5 /* y */
            dmul
            dsub
            dsub
            dmul
            dload 9 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            dadd
            dmul
            dload 3 /* x */
            dsub
            dastore
         5: .line 1139
            aload 2 /* out */
            iconst_1
            ldc 2.0
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dload 5 /* y */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dload 3 /* x */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dload 7 /* z */
            dmul
            dsub
            dsub
            dmul
            dload 9 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            dadd
            dmul
            dload 5 /* y */
            dsub
            dastore
         6: .line 1140
            aload 2 /* out */
            iconst_2
            ldc 2.0
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dload 7 /* z */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dload 5 /* y */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dload 3 /* x */
            dmul
            dsub
            dsub
            dmul
            dload 9 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dadd
            dmul
            dload 7 /* z */
            dsub
            dastore
         7: .line 1142
            return
        end local 9 // double s
        end local 7 // double z
        end local 5 // double y
        end local 3 // double x
        end local 2 // double[] out
        end local 1 // double[] in
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    8     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    8     1    in  [D
            0    8     2   out  [D
            1    8     3     x  D
            2    8     5     y  D
            3    8     7     z  D
            4    8     9     s  D
    MethodParameters:
      Name  Flags
      in    final
      out   final

  public org.apache.commons.math3.geometry.euclidean.threed.Vector3D 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/Vector3D;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=18, locals=12, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Vector3D u
         0: .line 1150
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getX:()D
            dstore 2 /* x */
        start local 2 // double x
         1: .line 1151
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getY:()D
            dstore 4 /* y */
        start local 4 // double y
         2: .line 1152
            aload 1 /* u */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Vector3D.getZ:()D
            dstore 6 /* z */
        start local 6 // double z
         3: .line 1154
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dload 2 /* x */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dload 4 /* y */
            dmul
            dadd
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dload 6 /* z */
            dmul
            dadd
            dstore 8 /* s */
        start local 8 // double s
         4: .line 1155
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dneg
            dstore 10 /* m0 */
        start local 10 // double m0
         5: .line 1157
            new org.apache.commons.math3.geometry.euclidean.threed.Vector3D
            dup
            ldc 2.0
            dload 10 /* m0 */
            dload 2 /* x */
            dload 10 /* m0 */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dload 6 /* z */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dload 4 /* y */
            dmul
            dsub
            dsub
            dmul
            dload 8 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            dadd
            dmul
            dload 2 /* x */
            dsub
         6: .line 1158
            ldc 2.0
            dload 10 /* m0 */
            dload 4 /* y */
            dload 10 /* m0 */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dload 2 /* x */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dload 6 /* z */
            dmul
            dsub
            dsub
            dmul
            dload 8 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            dadd
            dmul
            dload 4 /* y */
            dsub
         7: .line 1159
            ldc 2.0
            dload 10 /* m0 */
            dload 6 /* z */
            dload 10 /* m0 */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dload 4 /* y */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dload 2 /* x */
            dmul
            dsub
            dsub
            dmul
            dload 8 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dadd
            dmul
            dload 6 /* z */
            dsub
         8: .line 1157
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.Vector3D.<init>:(DDD)V
            areturn
        end local 10 // double m0
        end local 8 // double 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.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    9     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            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  D
            5    9    10    m0  D
    MethodParameters:
      Name  Flags
      u     

  public void applyInverseTo(double[], double[]);
    descriptor: ([D[D)V
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=14, locals=13, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // double[] in
        start local 2 // double[] out
         0: .line 1170
            aload 1 /* in */
            iconst_0
            daload
            dstore 3 /* x */
        start local 3 // double x
         1: .line 1171
            aload 1 /* in */
            iconst_1
            daload
            dstore 5 /* y */
        start local 5 // double y
         2: .line 1172
            aload 1 /* in */
            iconst_2
            daload
            dstore 7 /* z */
        start local 7 // double z
         3: .line 1174
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dload 3 /* x */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dload 5 /* y */
            dmul
            dadd
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dload 7 /* z */
            dmul
            dadd
            dstore 9 /* s */
        start local 9 // double s
         4: .line 1175
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dneg
            dstore 11 /* m0 */
        start local 11 // double m0
         5: .line 1177
            aload 2 /* out */
            iconst_0
            ldc 2.0
            dload 11 /* m0 */
            dload 3 /* x */
            dload 11 /* m0 */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dload 7 /* z */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dload 5 /* y */
            dmul
            dsub
            dsub
            dmul
            dload 9 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            dadd
            dmul
            dload 3 /* x */
            dsub
            dastore
         6: .line 1178
            aload 2 /* out */
            iconst_1
            ldc 2.0
            dload 11 /* m0 */
            dload 5 /* y */
            dload 11 /* m0 */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dload 3 /* x */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dload 7 /* z */
            dmul
            dsub
            dsub
            dmul
            dload 9 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            dadd
            dmul
            dload 5 /* y */
            dsub
            dastore
         7: .line 1179
            aload 2 /* out */
            iconst_2
            ldc 2.0
            dload 11 /* m0 */
            dload 7 /* z */
            dload 11 /* m0 */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dload 5 /* y */
            dmul
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dload 3 /* x */
            dmul
            dsub
            dsub
            dmul
            dload 9 /* s */
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dadd
            dmul
            dload 7 /* z */
            dsub
            dastore
         8: .line 1181
            return
        end local 11 // double m0
        end local 9 // double s
        end local 7 // double z
        end local 5 // double y
        end local 3 // double x
        end local 2 // double[] out
        end local 1 // double[] in
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    9     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    9     1    in  [D
            0    9     2   out  [D
            1    9     3     x  D
            2    9     5     y  D
            3    9     7     z  D
            4    9     9     s  D
            5    9    11    m0  D
    MethodParameters:
      Name  Flags
      in    final
      out   final

  public org.apache.commons.math3.geometry.euclidean.threed.Rotation 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/Rotation;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=3, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
         0: .line 1193
            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.Rotation.compose:(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    1     1     r  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
    MethodParameters:
      Name  Flags
      r     

  public org.apache.commons.math3.geometry.euclidean.threed.Rotation 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/Rotation;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=2, locals=3, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation 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 1221
            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 1222
            aload 0 /* this */
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.composeInternal:(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            goto 3
      StackMap locals:
      StackMap stack:
         2: aload 1 /* r */
            aload 0 /* this */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.composeInternal:(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
         3: .line 1221
      StackMap locals:
      StackMap stack: org.apache.commons.math3.geometry.euclidean.threed.Rotation
            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.Rotation this
      LocalVariableTable:
        Start  End  Slot        Name  Signature
            0    4     0        this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    4     1           r  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    4     2  convention  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
    MethodParameters:
            Name  Flags
      r           final
      convention  final

  private org.apache.commons.math3.geometry.euclidean.threed.Rotation 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/Rotation;
    flags: (0x0002) ACC_PRIVATE
    Code:
      stack=16, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
         0: .line 1231
            new org.apache.commons.math3.geometry.euclidean.threed.Rotation
            dup
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            dadd
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dadd
            dsub
         1: .line 1232
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            dadd
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            dsub
            dadd
         2: .line 1233
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            dadd
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dsub
            dadd
         3: .line 1234
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dadd
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            dsub
            dadd
         4: .line 1235
            iconst_0
         5: .line 1231
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.Rotation.<init>:(DDDDZ)V
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    6     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    6     1     r  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
    MethodParameters:
      Name  Flags
      r     final

  public org.apache.commons.math3.geometry.euclidean.threed.Rotation 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/Rotation;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=3, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
         0: .line 1249
            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.Rotation.composeInverse:(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;)Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    1     1     r  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
    MethodParameters:
      Name  Flags
      r     

  public org.apache.commons.math3.geometry.euclidean.threed.Rotation 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/Rotation;
    flags: (0x0001) ACC_PUBLIC
    Code:
      stack=2, locals=3, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation 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 1279
            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 1280
            aload 0 /* this */
            aload 1 /* r */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.composeInverseInternal:(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            goto 3
      StackMap locals:
      StackMap stack:
         2: aload 1 /* r */
            aload 0 /* this */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.revert:()Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.composeInternal:(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
         3: .line 1279
      StackMap locals:
      StackMap stack: org.apache.commons.math3.geometry.euclidean.threed.Rotation
            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.Rotation this
      LocalVariableTable:
        Start  End  Slot        Name  Signature
            0    4     0        this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    4     1           r  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    4     2  convention  Lorg/apache/commons/math3/geometry/euclidean/threed/RotationConvention;
    MethodParameters:
            Name  Flags
      r           final
      convention  final

  private org.apache.commons.math3.geometry.euclidean.threed.Rotation 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/Rotation;
    flags: (0x0002) ACC_PRIVATE
    Code:
      stack=16, locals=2, args_size=2
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
         0: .line 1290
            new org.apache.commons.math3.geometry.euclidean.threed.Rotation
            dup
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dneg
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            dadd
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dadd
            dsub
         1: .line 1291
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dneg
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            dadd
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            dsub
            dadd
         2: .line 1292
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dneg
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            dadd
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dsub
            dadd
         3: .line 1293
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dneg
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q0:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q3:D
            dmul
            dadd
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            dmul
            aload 1 /* r */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q2:D
            aload 0 /* this */
            getfield org.apache.commons.math3.geometry.euclidean.threed.Rotation.q1:D
            dmul
            dsub
            dadd
         4: .line 1294
            iconst_0
         5: .line 1290
            invokespecial org.apache.commons.math3.geometry.euclidean.threed.Rotation.<init>:(DDDDZ)V
            areturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    6     0  this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    6     1     r  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
    MethodParameters:
      Name  Flags
      r     

  private double[][] orthogonalizeMatrix(double[][], double);
    descriptor: ([[DD)[[D
    flags: (0x0002) ACC_PRIVATE
    Code:
      stack=12, locals=70, args_size=3
        start local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
        start local 1 // double[][] m
        start local 2 // double threshold
         0: .line 1309
            aload 1 /* m */
            iconst_0
            aaload
            astore 4 /* m0 */
        start local 4 // double[] m0
         1: .line 1310
            aload 1 /* m */
            iconst_1
            aaload
            astore 5 /* m1 */
        start local 5 // double[] m1
         2: .line 1311
            aload 1 /* m */
            iconst_2
            aaload
            astore 6 /* m2 */
        start local 6 // double[] m2
         3: .line 1312
            aload 4 /* m0 */
            iconst_0
            daload
            dstore 7 /* x00 */
        start local 7 // double x00
         4: .line 1313
            aload 4 /* m0 */
            iconst_1
            daload
            dstore 9 /* x01 */
        start local 9 // double x01
         5: .line 1314
            aload 4 /* m0 */
            iconst_2
            daload
            dstore 11 /* x02 */
        start local 11 // double x02
         6: .line 1315
            aload 5 /* m1 */
            iconst_0
            daload
            dstore 13 /* x10 */
        start local 13 // double x10
         7: .line 1316
            aload 5 /* m1 */
            iconst_1
            daload
            dstore 15 /* x11 */
        start local 15 // double x11
         8: .line 1317
            aload 5 /* m1 */
            iconst_2
            daload
            dstore 17 /* x12 */
        start local 17 // double x12
         9: .line 1318
            aload 6 /* m2 */
            iconst_0
            daload
            dstore 19 /* x20 */
        start local 19 // double x20
        10: .line 1319
            aload 6 /* m2 */
            iconst_1
            daload
            dstore 21 /* x21 */
        start local 21 // double x21
        11: .line 1320
            aload 6 /* m2 */
            iconst_2
            daload
            dstore 23 /* x22 */
        start local 23 // double x22
        12: .line 1321
            dconst_0
            dstore 25 /* fn */
        start local 25 // double fn
        13: .line 1324
            iconst_3
            iconst_3
            multianewarray [[D 2
            astore 29 /* o */
        start local 29 // double[][] o
        14: .line 1325
            aload 29 /* o */
            iconst_0
            aaload
            astore 30 /* o0 */
        start local 30 // double[] o0
        15: .line 1326
            aload 29 /* o */
            iconst_1
            aaload
            astore 31 /* o1 */
        start local 31 // double[] o1
        16: .line 1327
            aload 29 /* o */
            iconst_2
            aaload
            astore 32 /* o2 */
        start local 32 // double[] o2
        17: .line 1330
            iconst_0
            istore 33 /* i */
        start local 33 // int i
        18: .line 1331
            goto 71
        19: .line 1334
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Rotation double[][] double double[] double[] double[] double double double double double double double double double double top top double[][] double[] double[] double[] int
      StackMap stack:
            aload 4 /* m0 */
            iconst_0
            daload
            dload 7 /* x00 */
            dmul
            aload 5 /* m1 */
            iconst_0
            daload
            dload 13 /* x10 */
            dmul
            dadd
            aload 6 /* m2 */
            iconst_0
            daload
            dload 19 /* x20 */
            dmul
            dadd
            dstore 34 /* mx00 */
        start local 34 // double mx00
        20: .line 1335
            aload 4 /* m0 */
            iconst_1
            daload
            dload 7 /* x00 */
            dmul
            aload 5 /* m1 */
            iconst_1
            daload
            dload 13 /* x10 */
            dmul
            dadd
            aload 6 /* m2 */
            iconst_1
            daload
            dload 19 /* x20 */
            dmul
            dadd
            dstore 36 /* mx10 */
        start local 36 // double mx10
        21: .line 1336
            aload 4 /* m0 */
            iconst_2
            daload
            dload 7 /* x00 */
            dmul
            aload 5 /* m1 */
            iconst_2
            daload
            dload 13 /* x10 */
            dmul
            dadd
            aload 6 /* m2 */
            iconst_2
            daload
            dload 19 /* x20 */
            dmul
            dadd
            dstore 38 /* mx20 */
        start local 38 // double mx20
        22: .line 1337
            aload 4 /* m0 */
            iconst_0
            daload
            dload 9 /* x01 */
            dmul
            aload 5 /* m1 */
            iconst_0
            daload
            dload 15 /* x11 */
            dmul
            dadd
            aload 6 /* m2 */
            iconst_0
            daload
            dload 21 /* x21 */
            dmul
            dadd
            dstore 40 /* mx01 */
        start local 40 // double mx01
        23: .line 1338
            aload 4 /* m0 */
            iconst_1
            daload
            dload 9 /* x01 */
            dmul
            aload 5 /* m1 */
            iconst_1
            daload
            dload 15 /* x11 */
            dmul
            dadd
            aload 6 /* m2 */
            iconst_1
            daload
            dload 21 /* x21 */
            dmul
            dadd
            dstore 42 /* mx11 */
        start local 42 // double mx11
        24: .line 1339
            aload 4 /* m0 */
            iconst_2
            daload
            dload 9 /* x01 */
            dmul
            aload 5 /* m1 */
            iconst_2
            daload
            dload 15 /* x11 */
            dmul
            dadd
            aload 6 /* m2 */
            iconst_2
            daload
            dload 21 /* x21 */
            dmul
            dadd
            dstore 44 /* mx21 */
        start local 44 // double mx21
        25: .line 1340
            aload 4 /* m0 */
            iconst_0
            daload
            dload 11 /* x02 */
            dmul
            aload 5 /* m1 */
            iconst_0
            daload
            dload 17 /* x12 */
            dmul
            dadd
            aload 6 /* m2 */
            iconst_0
            daload
            dload 23 /* x22 */
            dmul
            dadd
            dstore 46 /* mx02 */
        start local 46 // double mx02
        26: .line 1341
            aload 4 /* m0 */
            iconst_1
            daload
            dload 11 /* x02 */
            dmul
            aload 5 /* m1 */
            iconst_1
            daload
            dload 17 /* x12 */
            dmul
            dadd
            aload 6 /* m2 */
            iconst_1
            daload
            dload 23 /* x22 */
            dmul
            dadd
            dstore 48 /* mx12 */
        start local 48 // double mx12
        27: .line 1342
            aload 4 /* m0 */
            iconst_2
            daload
            dload 11 /* x02 */
            dmul
            aload 5 /* m1 */
            iconst_2
            daload
            dload 17 /* x12 */
            dmul
            dadd
            aload 6 /* m2 */
            iconst_2
            daload
            dload 23 /* x22 */
            dmul
            dadd
            dstore 50 /* mx22 */
        start local 50 // double mx22
        28: .line 1345
            aload 30 /* o0 */
            iconst_0
            dload 7 /* x00 */
            ldc 0.5
            dload 7 /* x00 */
            dload 34 /* mx00 */
            dmul
            dload 9 /* x01 */
            dload 36 /* mx10 */
            dmul
            dadd
            dload 11 /* x02 */
            dload 38 /* mx20 */
            dmul
            dadd
            aload 4 /* m0 */
            iconst_0
            daload
            dsub
            dmul
            dsub
            dastore
        29: .line 1346
            aload 30 /* o0 */
            iconst_1
            dload 9 /* x01 */
            ldc 0.5
            dload 7 /* x00 */
            dload 40 /* mx01 */
            dmul
            dload 9 /* x01 */
            dload 42 /* mx11 */
            dmul
            dadd
            dload 11 /* x02 */
            dload 44 /* mx21 */
            dmul
            dadd
            aload 4 /* m0 */
            iconst_1
            daload
            dsub
            dmul
            dsub
            dastore
        30: .line 1347
            aload 30 /* o0 */
            iconst_2
            dload 11 /* x02 */
            ldc 0.5
            dload 7 /* x00 */
            dload 46 /* mx02 */
            dmul
            dload 9 /* x01 */
            dload 48 /* mx12 */
            dmul
            dadd
            dload 11 /* x02 */
            dload 50 /* mx22 */
            dmul
            dadd
            aload 4 /* m0 */
            iconst_2
            daload
            dsub
            dmul
            dsub
            dastore
        31: .line 1348
            aload 31 /* o1 */
            iconst_0
            dload 13 /* x10 */
            ldc 0.5
            dload 13 /* x10 */
            dload 34 /* mx00 */
            dmul
            dload 15 /* x11 */
            dload 36 /* mx10 */
            dmul
            dadd
            dload 17 /* x12 */
            dload 38 /* mx20 */
            dmul
            dadd
            aload 5 /* m1 */
            iconst_0
            daload
            dsub
            dmul
            dsub
            dastore
        32: .line 1349
            aload 31 /* o1 */
            iconst_1
            dload 15 /* x11 */
            ldc 0.5
            dload 13 /* x10 */
            dload 40 /* mx01 */
            dmul
            dload 15 /* x11 */
            dload 42 /* mx11 */
            dmul
            dadd
            dload 17 /* x12 */
            dload 44 /* mx21 */
            dmul
            dadd
            aload 5 /* m1 */
            iconst_1
            daload
            dsub
            dmul
            dsub
            dastore
        33: .line 1350
            aload 31 /* o1 */
            iconst_2
            dload 17 /* x12 */
            ldc 0.5
            dload 13 /* x10 */
            dload 46 /* mx02 */
            dmul
            dload 15 /* x11 */
            dload 48 /* mx12 */
            dmul
            dadd
            dload 17 /* x12 */
            dload 50 /* mx22 */
            dmul
            dadd
            aload 5 /* m1 */
            iconst_2
            daload
            dsub
            dmul
            dsub
            dastore
        34: .line 1351
            aload 32 /* o2 */
            iconst_0
            dload 19 /* x20 */
            ldc 0.5
            dload 19 /* x20 */
            dload 34 /* mx00 */
            dmul
            dload 21 /* x21 */
            dload 36 /* mx10 */
            dmul
            dadd
            dload 23 /* x22 */
            dload 38 /* mx20 */
            dmul
            dadd
            aload 6 /* m2 */
            iconst_0
            daload
            dsub
            dmul
            dsub
            dastore
        35: .line 1352
            aload 32 /* o2 */
            iconst_1
            dload 21 /* x21 */
            ldc 0.5
            dload 19 /* x20 */
            dload 40 /* mx01 */
            dmul
            dload 21 /* x21 */
            dload 42 /* mx11 */
            dmul
            dadd
            dload 23 /* x22 */
            dload 44 /* mx21 */
            dmul
            dadd
            aload 6 /* m2 */
            iconst_1
            daload
            dsub
            dmul
            dsub
            dastore
        36: .line 1353
            aload 32 /* o2 */
            iconst_2
            dload 23 /* x22 */
            ldc 0.5
            dload 19 /* x20 */
            dload 46 /* mx02 */
            dmul
            dload 21 /* x21 */
            dload 48 /* mx12 */
            dmul
            dadd
            dload 23 /* x22 */
            dload 50 /* mx22 */
            dmul
            dadd
            aload 6 /* m2 */
            iconst_2
            daload
            dsub
            dmul
            dsub
            dastore
        37: .line 1356
            aload 30 /* o0 */
            iconst_0
            daload
            aload 4 /* m0 */
            iconst_0
            daload
            dsub
            dstore 52 /* corr00 */
        start local 52 // double corr00
        38: .line 1357
            aload 30 /* o0 */
            iconst_1
            daload
            aload 4 /* m0 */
            iconst_1
            daload
            dsub
            dstore 54 /* corr01 */
        start local 54 // double corr01
        39: .line 1358
            aload 30 /* o0 */
            iconst_2
            daload
            aload 4 /* m0 */
            iconst_2
            daload
            dsub
            dstore 56 /* corr02 */
        start local 56 // double corr02
        40: .line 1359
            aload 31 /* o1 */
            iconst_0
            daload
            aload 5 /* m1 */
            iconst_0
            daload
            dsub
            dstore 58 /* corr10 */
        start local 58 // double corr10
        41: .line 1360
            aload 31 /* o1 */
            iconst_1
            daload
            aload 5 /* m1 */
            iconst_1
            daload
            dsub
            dstore 60 /* corr11 */
        start local 60 // double corr11
        42: .line 1361
            aload 31 /* o1 */
            iconst_2
            daload
            aload 5 /* m1 */
            iconst_2
            daload
            dsub
            dstore 62 /* corr12 */
        start local 62 // double corr12
        43: .line 1362
            aload 32 /* o2 */
            iconst_0
            daload
            aload 6 /* m2 */
            iconst_0
            daload
            dsub
            dstore 64 /* corr20 */
        start local 64 // double corr20
        44: .line 1363
            aload 32 /* o2 */
            iconst_1
            daload
            aload 6 /* m2 */
            iconst_1
            daload
            dsub
            dstore 66 /* corr21 */
        start local 66 // double corr21
        45: .line 1364
            aload 32 /* o2 */
            iconst_2
            daload
            aload 6 /* m2 */
            iconst_2
            daload
            dsub
            dstore 68 /* corr22 */
        start local 68 // double corr22
        46: .line 1367
            dload 52 /* corr00 */
            dload 52 /* corr00 */
            dmul
            dload 54 /* corr01 */
            dload 54 /* corr01 */
            dmul
            dadd
            dload 56 /* corr02 */
            dload 56 /* corr02 */
            dmul
            dadd
        47: .line 1368
            dload 58 /* corr10 */
            dload 58 /* corr10 */
            dmul
        48: .line 1367
            dadd
        49: .line 1368
            dload 60 /* corr11 */
            dload 60 /* corr11 */
            dmul
        50: .line 1367
            dadd
        51: .line 1368
            dload 62 /* corr12 */
            dload 62 /* corr12 */
            dmul
        52: .line 1367
            dadd
        53: .line 1369
            dload 64 /* corr20 */
            dload 64 /* corr20 */
            dmul
        54: .line 1367
            dadd
        55: .line 1369
            dload 66 /* corr21 */
            dload 66 /* corr21 */
            dmul
        56: .line 1367
            dadd
        57: .line 1369
            dload 68 /* corr22 */
            dload 68 /* corr22 */
            dmul
        58: .line 1367
            dadd
            dstore 27 /* fn1 */
        start local 27 // double fn1
        59: .line 1372
            dload 27 /* fn1 */
            dload 25 /* fn */
            dsub
            invokestatic org.apache.commons.math3.util.FastMath.abs:(D)D
            dload 2 /* threshold */
            dcmpg
            ifgt 61
        60: .line 1373
            aload 29 /* o */
            areturn
        61: .line 1377
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Rotation double[][] double double[] double[] double[] double double double double double double double double double double double double[][] double[] double[] double[] int double double double double double double double double double double double double double double double double double double
      StackMap stack:
            aload 30 /* o0 */
            iconst_0
            daload
            dstore 7 /* x00 */
        62: .line 1378
            aload 30 /* o0 */
            iconst_1
            daload
            dstore 9 /* x01 */
        63: .line 1379
            aload 30 /* o0 */
            iconst_2
            daload
            dstore 11 /* x02 */
        64: .line 1380
            aload 31 /* o1 */
            iconst_0
            daload
            dstore 13 /* x10 */
        65: .line 1381
            aload 31 /* o1 */
            iconst_1
            daload
            dstore 15 /* x11 */
        66: .line 1382
            aload 31 /* o1 */
            iconst_2
            daload
            dstore 17 /* x12 */
        67: .line 1383
            aload 32 /* o2 */
            iconst_0
            daload
            dstore 19 /* x20 */
        68: .line 1384
            aload 32 /* o2 */
            iconst_1
            daload
            dstore 21 /* x21 */
        69: .line 1385
            aload 32 /* o2 */
            iconst_2
            daload
            dstore 23 /* x22 */
        70: .line 1386
            dload 27 /* fn1 */
            dstore 25 /* fn */
        end local 68 // double corr22
        end local 66 // double corr21
        end local 64 // double corr20
        end local 62 // double corr12
        end local 60 // double corr11
        end local 58 // double corr10
        end local 56 // double corr02
        end local 54 // double corr01
        end local 52 // double corr00
        end local 50 // double mx22
        end local 48 // double mx12
        end local 46 // double mx02
        end local 44 // double mx21
        end local 42 // double mx11
        end local 40 // double mx01
        end local 38 // double mx20
        end local 36 // double mx10
        end local 34 // double mx00
        end local 27 // double fn1
        71: .line 1331
      StackMap locals: org.apache.commons.math3.geometry.euclidean.threed.Rotation double[][] double double[] double[] double[] double double double double double double double double double double top top double[][] double[] double[] double[] int
      StackMap stack:
            iinc 33 /* i */ 1
            iload 33 /* i */
            bipush 11
            if_icmplt 19
        72: .line 1391
            new org.apache.commons.math3.geometry.euclidean.threed.NotARotationMatrixException
            dup
        73: .line 1392
            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
        74: .line 1393
            iload 33 /* i */
            iconst_1
            isub
            invokestatic java.lang.Integer.valueOf:(I)Ljava/lang/Integer;
        75: .line 1391
            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 33 // int i
        end local 32 // double[] o2
        end local 31 // double[] o1
        end local 30 // double[] o0
        end local 29 // double[][] o
        end local 25 // double fn
        end local 23 // double x22
        end local 21 // double x21
        end local 19 // double x20
        end local 17 // double x12
        end local 15 // double x11
        end local 13 // double x10
        end local 11 // double x02
        end local 9 // double x01
        end local 7 // double x00
        end local 6 // double[] m2
        end local 5 // double[] m1
        end local 4 // double[] m0
        end local 2 // double threshold
        end local 1 // double[][] m
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation this
      LocalVariableTable:
        Start  End  Slot       Name  Signature
            0   76     0       this  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0   76     1          m  [[D
            0   76     2  threshold  D
            1   76     4         m0  [D
            2   76     5         m1  [D
            3   76     6         m2  [D
            4   76     7        x00  D
            5   76     9        x01  D
            6   76    11        x02  D
            7   76    13        x10  D
            8   76    15        x11  D
            9   76    17        x12  D
           10   76    19        x20  D
           11   76    21        x21  D
           12   76    23        x22  D
           13   76    25         fn  D
           59   71    27        fn1  D
           14   76    29          o  [[D
           15   76    30         o0  [D
           16   76    31         o1  [D
           17   76    32         o2  [D
           18   76    33          i  I
           20   71    34       mx00  D
           21   71    36       mx10  D
           22   71    38       mx20  D
           23   71    40       mx01  D
           24   71    42       mx11  D
           25   71    44       mx21  D
           26   71    46       mx02  D
           27   71    48       mx12  D
           28   71    50       mx22  D
           38   71    52     corr00  D
           39   71    54     corr01  D
           40   71    56     corr02  D
           41   71    58     corr10  D
           42   71    60     corr11  D
           43   71    62     corr12  D
           44   71    64     corr20  D
           45   71    66     corr21  D
           46   71    68     corr22  D
    Exceptions:
      throws org.apache.commons.math3.geometry.euclidean.threed.NotARotationMatrixException
    MethodParameters:
           Name  Flags
      m          
      threshold  

  public static double distance(org.apache.commons.math3.geometry.euclidean.threed.Rotation, org.apache.commons.math3.geometry.euclidean.threed.Rotation);
    descriptor: (Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)D
    flags: (0x0009) ACC_PUBLIC, ACC_STATIC
    Code:
      stack=2, 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.Rotation r2
         0: .line 1421
            aload 0 /* r1 */
            aload 1 /* r2 */
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.composeInverseInternal:(Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;)Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            invokevirtual org.apache.commons.math3.geometry.euclidean.threed.Rotation.getAngle:()D
            dreturn
        end local 1 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r2
        end local 0 // org.apache.commons.math3.geometry.euclidean.threed.Rotation r1
      LocalVariableTable:
        Start  End  Slot  Name  Signature
            0    1     0    r1  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
            0    1     1    r2  Lorg/apache/commons/math3/geometry/euclidean/threed/Rotation;
    MethodParameters:
      Name  Flags
      r1    
      r2    
}
SourceFile: "Rotation.java"
/

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