Further minor improvements

Comparison/src/main/java/cz/fidentis/analyst/icp/Icp.java

@@ -28,7 +28,7 @@ public class Icp {
 
     private final List<IcpTransformation> transformations = new LinkedList<>();
     private MeshFacet transformedFacet = null;
-    private  int maxIteration = 10;
+    private int maxIteration = 10;
     private boolean scale;
     private double error = 0.05;
 
@@ -141,8 +141,10 @@ public class Icp {
 
         meanD /= countOfNotNullPoints;
 
-        Vector3d translation = new Vector3d(mainCenter.x - comparedCenter.x,
-                mainCenter.y - comparedCenter.y, mainCenter.z -comparedCenter.z);
+        Vector3d translation = new Vector3d(
+                mainCenter.x - comparedCenter.x,
+                mainCenter.y - comparedCenter.y, 
+                mainCenter.z - comparedCenter.z);
 
         // END computing translation parameter
 
@@ -158,9 +160,11 @@ public class Icp {
                 max = i;
             }
         }
-        Quaternion q = new Quaternion(eigM.getElement(0, max), eigM.getElement(1, max), eigM.getElement(2, max),
+        Quaternion q = new Quaternion(
+                eigM.getElement(0, max), 
+                eigM.getElement(1, max), 
+                eigM.getElement(2, max),
                 eigM.getElement(3, max));
-
         q = q.normalize();
         // END computing rotation parameter
 
@@ -223,11 +227,13 @@ public class Icp {
             }
 
             if(scale && !Double.isNaN(transformation.getScaleFactor())) {
-                meshPointPosition.set(rotation.getX() * transformation.getScaleFactor() + transformation.getTranslation().x,
+                meshPointPosition.set(
+                        rotation.getX() * transformation.getScaleFactor() + transformation.getTranslation().x,
                         rotation.getY() * transformation.getScaleFactor() + transformation.getTranslation().y,
                         rotation.getZ() * transformation.getScaleFactor() + transformation.getTranslation().z);
             } else {
-                meshPointPosition.set(rotation.getX() + transformation.getTranslation().x,
+                meshPointPosition.set(
+                        rotation.getX() + transformation.getTranslation().x,
                         rotation.getY() + transformation.getTranslation().y ,
                         rotation.getZ() + transformation.getTranslation().z);
             }
@@ -273,8 +279,8 @@ public class Icp {
 
             countOfNotNullPoints ++;
         }
-        result.add(new Point3d(xN/countOfNotNullPoints,yN/countOfNotNullPoints,zN/countOfNotNullPoints));
-        result.add(new Point3d(xC/countOfNotNullPoints,yC/countOfNotNullPoints,zC/countOfNotNullPoints));
+        result.add(new Point3d(xN/countOfNotNullPoints, yN/countOfNotNullPoints, zN/countOfNotNullPoints));
+        result.add(new Point3d(xC/countOfNotNullPoints, yC/countOfNotNullPoints, zC/countOfNotNullPoints));
         return result;
     }
 
@@ -287,7 +293,7 @@ public class Icp {
      * @return Vector3d which represents coordinates of new point according to center.
      */
     private Point3d relativeCoordinate(Point3d p, Point3d center) {
-        return new Point3d(p.x - center.x,p.y - center.y, p.z - center.z);
+        return new Point3d(p.x - center.x, p.y - center.y, p.z - center.z);
     }
 
     /**
@@ -297,10 +303,11 @@ public class Icp {
      * @return Sum matrix of given point
      */
     private Matrix4d sumMatrixComp(Point3d p) {
-        return new Matrix4d(0, -p.x, -p.y, -p.z,
-                p.x, 0, p.z, -p.y,
-                p.y, -p.z, 0, p.x,
-                p.z, p.y, -p.x,0 );
+        return new Matrix4d(
+                0,   -p.x, -p.y, -p.z,
+                p.x,  0,    p.z, -p.y,
+                p.y, -p.z,  0,    p.x,
+                p.z,  p.y, -p.x,  0);
     }
     /**
      * Compute sum matrix of given point. Given point is point from main facet.
@@ -309,10 +316,11 @@ public class Icp {
      * @return Sum matrix of given point
      */
     private Matrix4d sumMatrixMain(Point3d p) {
-        return new Matrix4d(0, -p.x, -p.y, -p.z,
-                p.x, 0, -p.z, p.y,
-                p.y, p.z, 0, -p.x,
-                p.z, -p.y, p.x, 0);
+        return new Matrix4d(
+                0,   -p.x, -p.y, -p.z,
+                p.x,  0,   -p.z,  p.y,
+                p.y,  p.z,  0,   -p.x,
+                p.z, -p.y,  p.x,  0);
     }
 
     /**
@@ -322,9 +330,11 @@ public class Icp {
      * @return Matrix of point.
      */
     private Matrix4d pointToMatrix(Point3d p){
-        return new Matrix4d(p.x, p.y, p.z, 1,
-                0, 0, 0, 0, 0, 0,
-                0,0, 0, 0, 0, 0);
+        return new Matrix4d(
+                p.x, p.y, p.z, 1,
+                0,   0,   0,   0, 
+                0,   0,   0,   0,
+                0,   0,   0,   0);
     }
 
 }
\ No newline at end of file

Comparison/src/main/java/cz/fidentis/analyst/icp/Quaternion.java

@@ -8,11 +8,12 @@ import javax.vecmath.Matrix4d;
  * @author Maria Kocurekova
  */
 public final class Quaternion {
-    public  final  double w;
+    
+    private final double w;
     private final double x;
     private final double y;
     private final double z;
-
+    
     /**
      * Builds a quaternion from its components.
      *
@@ -21,10 +22,7 @@ public final class Quaternion {
      * @param y Second vector component.
      * @param z Third vector component.
      */
-    public Quaternion( final double w,
-                       final double x,
-                       final double y,
-                       final double z) {
+    public Quaternion(double w, double x, double y, double z) {
         this.w = w;
         this.x = x;
         this.y = y;