Math: doc++

src/Magnum/Math/Matrix3.h

@@ -243,8 +243,9 @@ template<class T> class Matrix3: public Matrix3x3<T> {
         /**
          * @brief Check whether the matrix represents a rigid transformation
          *
-         * Rigid transformation consists only of rotation and translation (i.e.
-         * no scaling or projection).
+         * A [rigid transformation](https://en.wikipedia.org/wiki/Rigid_transformation)
+         * consists only of rotation, reflection and translation (i.e., no
+         * scaling, skew or projection).
          * @see @ref isOrthogonal()
          */
         bool isRigidTransformation() const {
@@ -598,8 +599,9 @@ template<class T> class Matrix3: public Matrix3x3<T> {
         /**
          * @brief Inverted rigid transformation matrix
          *
-         * Expects that the matrix represents rigid transformation.
-         * Significantly faster than the general algorithm in @ref inverted(). @f[
+         * Expects that the matrix represents a [rigid transformation](https://en.wikipedia.org/wiki/Rigid_transformation)
+         * (i.e., no scaling, skew or projection). Significantly faster than
+         * the general algorithm in @ref inverted(). @f[
          *      A^{-1} = \begin{pmatrix} (A^{2,2})^T & (A^{2,2})^T \begin{pmatrix} a_{2,0} \\ a_{2,1} \end{pmatrix} \\ \begin{array}{cc} 0 & 0 \end{array} & 1 \end{pmatrix}
          * @f]
          * @f$ A^{i, j} @f$ is matrix without i-th row and j-th column, see

src/Magnum/Math/Matrix4.h

@@ -477,8 +477,9 @@ template<class T> class Matrix4: public Matrix4x4<T> {
         /**
          * @brief Check whether the matrix represents a rigid transformation
          *
-         * Rigid transformation consists only of rotation and translation (i.e.
-         * no scaling or projection).
+         * A [rigid transformation](https://en.wikipedia.org/wiki/Rigid_transformation)
+         * consists only of rotation, reflection and translation (i.e., no
+         * scaling, skew or projection).
          * @see @ref isOrthogonal()
          */
         bool isRigidTransformation() const {
@@ -906,8 +907,9 @@ template<class T> class Matrix4: public Matrix4x4<T> {
         /**
          * @brief Inverted rigid transformation matrix
          *
-         * Expects that the matrix represents rigid transformation.
-         * Significantly faster than the general algorithm in @ref inverted(). @f[
+         * Expects that the matrix represents a [rigid transformation](https://en.wikipedia.org/wiki/Rigid_transformation)
+         * (i.e., no scaling, skew or projection). Significantly faster than
+         * the general algorithm in @ref inverted(). @f[
          *      A^{-1} = \begin{pmatrix} (A^{3,3})^T & (A^{3,3})^T \begin{pmatrix} a_{3,0} \\ a_{3,1} \\ a_{3,2} \\ \end{pmatrix} \\ \begin{array}{ccc} 0 & 0 & 0 \end{array} & 1 \end{pmatrix}
          * @f]
          * @f$ A^{i, j} @f$ is matrix without i-th row and j-th column, see