Cleaning up header comments.

include/wrmath/geom/quaternion.h

@@ -38,7 +38,7 @@ namespace geom {
 /// Like vectors, quaternions carry an internal tolerance value ε that is used for
 /// floating point comparisons. The wr::math namespace contains the default values
 /// used for this; generally, a tolerance of 0.0001 is considered appropriate for
-/// the uses of this library. MATHJThe tolerance can be explicitly set with the
+/// the uses of this library. The tolerance can be explicitly set with the
 /// setEpsilon method.
 template<typename T>
 class Quaternion {
@@ -465,13 +465,6 @@ ShortestSLERP(Quaternion<T> p, Quaternion<T> q, T t)
 void		Quaternion_SelfTest();
 
 
-// Helpful references for understanding quaternions:
-// + "Intro to Quaternions" - https://www.youtube.com/watch?v=fKIss4EV6ME
-//   15 minutes into this video I had a more intuitive understanding.
-// + "Quaternions and Rotations" - http://graphics.stanford.edu/courses/cs348a-17-winter/Papers/quaternion.pdf
-// + "Understanding Quaternions" - http://www.chrobotics.com/library/understanding-quaternions
-
-
 } // namespace geom
 } // namespace wr
 

include/wrmath/geom/vector.h

@@ -25,10 +25,13 @@ namespace geom {
 /// @brief Vectors represent a direction and magnitude.
 ///
 /// Vector provides a standard interface for dimensionless fixed-size
-/// vectors. Once instantiated, they cannot be modified. Note that while
+/// vectors. Once instantiated, they cannot be modified.
-/// the type is generic, it's intended to be used with floating-point
+///
-/// types. They can be indexed like arrays, and they contain an epsilon
+/// Note that while the class is templated, it's intended to be used with
-/// value that defines a tolerance for equality.
+/// floating-point types.
+///
+/// Vectors can be indexed like arrays, and they contain an epsilon value
+/// that defines a tolerance for equality.
 template <typename T, size_t N>
 class Vector {
 public:
@@ -314,9 +317,18 @@ public:
 
 
 	/// Support array indexing into vector.
+	///
+	/// Note that the values of the vector cannot be modified. Instead,
+	/// it's required to do something like the following:
+	///
+	/// ```
+	/// Vector3d	a {1.0, 2.0, 3.0};
+	/// Vector3d	b {a[0], a[1]*2.0, a[2]};
+	/// ```
+	///
 	/// @param i The component index.
 	/// @return The value of the vector component at i.
-	T
+	const T&
 	operator[](size_t i) const
 	{
 		return this->arr[i];