updated README.md and the comments in superpose3d.hpp

README.md

@@ -147,10 +147,10 @@ For large *N*, the computation time required (per point in the cloud)
 is approximately 4.0-08 seconds.
 
 <sub>
-*(Details: This was measured on a single 1.7GHz i5-4210U CPU core.
+(Details: This was measured on a single 1.7GHz i5-4210U CPU core.
 For this test, the [tests/test_superpose3d.cpp](tests/test_superpose3d.cpp)
 file was compiled using g++ with the "-Ofast" compiler flag, and then run with
-and without with the line invoking Superpose3D::Superpose() commented out.)*
+and without with the line invoking Superpose3D::Superpose() commented out.)
 </sub>
 
 ## Development Status: *Stable*

include/superpose3d.hpp

@@ -57,7 +57,7 @@ class Superpose3D {
 public:
   // The next 3 data members store the rotation, translation and scale
   // after optimal superposition
-  Scalar **R;  //!< store optimal rotation here
+  Scalar **R;  //!< store optimal rotation here (this is a 3x3 array).
   Scalar T[3]; //!< store optimal translation here
   Scalar c;  //!< store optimal scale (typically 1 unless requested by the user)
 
@@ -81,7 +81,7 @@ class Superpose3D {
   /// (optionally) rescale operations are applied to the coordinates in the
   /// "aaXm_orig" array in order to minimize the root-mean-squared-distance
   /// (RMSD) between them, where RMSD is defined as:
-  ///    sqrt((Sum_i  w_i * |X_i - (Sum_jc*R_ij*x_j + T_i))|^2) / (Sum_j w_j))
+  /// sqrt((Σ_n w[n]*Σ_i |X[n][i] - (Σ_j c*R[i][j]*x[n][j]+T[i])|^2)/(Σ_n w[n]))
   /// The "X_i" and "x_i" are coordinates of the ith fixed and mobile point,
   /// (represented by "aaXf" and "aaXm" below), and "w_i" are weights
   /// (represented by "aWeights", which, if omitted, are assumed to be equal).