diff -u -r1.1 -r1.2
--- Rotation3D.java	7 May 2007 19:02:44 -0000	1.1
+++ Rotation3D.java	8 May 2007 02:02:42 -0000	1.2
@@ -13,7 +13,7 @@

  * An object of this type defines a reference frame rotation in 3D space.
  *
  * @author D.Onoprienko

- * @version $Id: Rotation3D.java,v 1.1 2007/05/07 19:02:44 onoprien Exp $

+ * @version $Id: Rotation3D.java,v 1.2 2007/05/08 02:02:42 onoprien Exp $

  */
 public class Rotation3D implements Transformation3D {
   

@@ -88,8 +88,21 @@

    * covariance matrix in the original reference frame. 
    */
   public SymmetricMatrix transformTo(SymmetricMatrix covMatrix) {

-    System.out.println("Covariance matrix transformation is not yet implemented");
-    return null;

+    if (_to == null) _to = VecOp.inverse(_from);
+    double[] loc = new double[6];
+    int index = -1;
+    for (int l = 0; l <3; l++) {
+      for (int k = 0; k <= l; k++) {
+        loc[++index] = 0.;
+        for (int i = 0; i<3; i++) {
+          for (int j = 0; j<= i; j++) {
+            double term = _to.e(l,i)*_to.e(k,j)*covMatrix.e(i,j);
+            loc[index] += (i==j) ? term : 2.*term;
+          }
+        }
+      }
+    }
+    return new SymmetricMatrix(3, loc, true);

   }
   
   /**

@@ -97,8 +110,21 @@

    * covariance matrix in the transformed reference frame. 
    */
   public SymmetricMatrix transformFrom(SymmetricMatrix covMatrix) {

-    System.out.println("Covariance matrix transformation is not yet implemented");
-    return null;

+    if (_from == null) _from = VecOp.inverse(_to);
+    double[] glob = new double[6];
+    int index = -1;
+    for (int l = 0; l <3; l++) {
+      for (int k = 0; k <= l; k++) {
+        glob[++index] = 0.;
+        for (int i = 0; i<3; i++) {
+          for (int j = 0; j<= i; j++) {
+            double term = _from.e(l,i)*_from.e(k,j)*covMatrix.e(i,j);
+            glob[index] += (i==j) ? term : 2.*term;
+          }
+        }
+      }
+    }
+    return new SymmetricMatrix(3, glob, true);

   }
   
 // -- Private parts :  ---------------------------------------------------------