diff --git a/README.md b/README.md
index 1dc0aea..b3bda8f 100644
--- a/README.md
+++ b/README.md
@@ -19,7 +19,7 @@ repositories {
     jcenter()
 }
 dependencies {
-    compile 'org.mechdancer:linearalgebra:0.2.5-dev-3'
+    implementation 'org.mechdancer:linearalgebra:${latest_version}'
 }
 ```
 
@@ -37,7 +37,7 @@ dependencies {
 <dependency>
   <groupId>org.mechdancer</groupId>
   <artifactId>linearalgebra</artifactId>
-  <version>0.2.5-dev-3</version>
+  <version>latest_version</version>
   <type>pom</type>
 </dependency>
 ```
diff --git a/build.gradle.kts b/build.gradle.kts
index b1db42b..9448c64 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -2,9 +2,9 @@ import org.jetbrains.kotlin.gradle.tasks.KotlinCompile
 
 plugins {
     kotlin("jvm") version "1.3.50" apply (true)
-//    id("org.jetbrains.dokka") version "0.9.18"
-//    id("com.jfrog.bintray") version "1.8.4"
-//    `maven-publish`
+    id("org.jetbrains.dokka") version "0.9.18"
+    id("com.jfrog.bintray") version "1.8.4"
+    `maven-publish`
     `build-scan`
 }
 
@@ -33,17 +33,17 @@ tasks.withType<KotlinCompile> {
     }
 }
 
-//tasks.dokka {
-//    outputFormat = "javadoc"
-//    outputDirectory = "$buildDir/javadoc"
-//}
+tasks.dokka {
+    outputFormat = "javadoc"
+    outputDirectory = "$buildDir/javadoc"
+}
 
-//val doc = tasks.register<Jar>("javadocJar") {
-//    group = JavaBasePlugin.DOCUMENTATION_GROUP
-//    description = "Assembles Kotlin docs with Dokka"
-//    archiveClassifier.set("javadoc")
-//    from(tasks.dokka)
-//}
+val doc = tasks.register<Jar>("javadocJar") {
+    group = JavaBasePlugin.DOCUMENTATION_GROUP
+    description = "Assembles Kotlin docs with Dokka"
+    archiveClassifier.set("javadoc")
+    from(tasks.dokka)
+}
 
 val sources = tasks.register<Jar>("sourcesJar") {
     group = JavaBasePlugin.BUILD_TASK_NAME
@@ -51,78 +51,78 @@ val sources = tasks.register<Jar>("sourcesJar") {
     archiveClassifier.set("sources")
     from(sourceSets.main.get().allSource)
 }
-//
-//val fat = tasks.register<Jar>("fatJar") {
-//    group = JavaBasePlugin.BUILD_TASK_NAME
-//    description = "Packs binary output with dependencies"
-//    archiveClassifier.set("all")
-//    from(sourceSets.main.get().output)
-//    from({
-//        configurations.runtimeClasspath.get().filter { it.name.endsWith("jar") }.map { zipTree(it) }
-//    })
-//}
-//
-//tasks.register("allJars") {
-//    group = JavaBasePlugin.BUILD_TASK_NAME
-//    description = "Assembles all jars in one task"
-//    dependsOn(doc, sources, fat, tasks.jar)
-//}
-//
-//val rename = tasks.register("renamePomFile") {
-//    dependsOn(tasks.publishToMavenLocal)
-//    doLast {
-//        val path = "${buildDir.absolutePath}/publications/maven/"
-//        val old = File(path + "pom-default.xml")
-//        val f = File("$path${project.name}-$version.pom")
-//        old.renameTo(f)
-//    }
-//}
-//
-//tasks.bintrayUpload.configure {
-//    dependsOn(rename)
-//}
-//
-//bintray {
-//    user = "berberman"
-//    key = System.getenv("BintrayToken")
-//    setConfigurations("archives")
-//    val v = version.toString()
-//    val url = "https://github.com/MechDancer/linearalgebra"
-//    publish = true
-//    pkg.apply {
-//        name = project.name
-//        desc = "linearalgebra kotlin utilities"
-//        repo = "maven"
-//        userOrg = "mechdancer"
-//        githubRepo = "MechDancer/linearalgebra"
-//        vcsUrl = "$url.git"
-//        issueTrackerUrl = "$url/issues"
-//        publicDownloadNumbers = true
-//        setLicenses("WTFPL")
-//        version.apply {
-//            name = v
-//            vcsTag = v
-//            websiteUrl = "$url/releases/tag/$v"
-//        }
-//    }
-//}
-//
-//publishing {
-//    repositories {
-//        maven("$buildDir/repo")
-//    }
-//
-//    publications {
-//        create<MavenPublication>("maven") {
-//            from(components["java"])
-//        }
-//    }
-//}
-//
-//artifacts {
-//    add("archives", tasks.jar)
-//    add("archives", fat)
-//    add("archives", sources)
-//    add("archives", doc)
-//    add("archives", File("${buildDir.absolutePath}/publications/maven/${project.name}-$version.pom"))
-//}
+
+val fat = tasks.register<Jar>("fatJar") {
+    group = JavaBasePlugin.BUILD_TASK_NAME
+    description = "Packs binary output with dependencies"
+    archiveClassifier.set("all")
+    from(sourceSets.main.get().output)
+    from({
+        configurations.runtimeClasspath.get().filter { it.name.endsWith("jar") }.map { zipTree(it) }
+    })
+}
+
+tasks.register("allJars") {
+    group = JavaBasePlugin.BUILD_TASK_NAME
+    description = "Assembles all jars in one task"
+    dependsOn(doc, sources, fat, tasks.jar)
+}
+
+val rename = tasks.register("renamePomFile") {
+    dependsOn(tasks.publishToMavenLocal)
+    doLast {
+        val path = "${buildDir.absolutePath}/publications/maven/"
+        val old = File(path + "pom-default.xml")
+        val f = File("$path${project.name}-$version.pom")
+        old.renameTo(f)
+    }
+}
+
+tasks.bintrayUpload.configure {
+    dependsOn(rename)
+}
+
+bintray {
+    user = "berberman"
+    key = System.getenv("BintrayToken")
+    setConfigurations("archives")
+    val v = version.toString()
+    val url = "https://github.com/MechDancer/linearalgebra"
+    publish = true
+    pkg.apply {
+        name = project.name
+        desc = "linearalgebra kotlin utilities"
+        repo = "maven"
+        userOrg = "mechdancer"
+        githubRepo = "MechDancer/linearalgebra"
+        vcsUrl = "$url.git"
+        issueTrackerUrl = "$url/issues"
+        publicDownloadNumbers = true
+        setLicenses("WTFPL")
+        version.apply {
+            name = v
+            vcsTag = v
+            websiteUrl = "$url/releases/tag/$v"
+        }
+    }
+}
+
+publishing {
+    repositories {
+        maven("$buildDir/repo")
+    }
+
+    publications {
+        create<MavenPublication>("maven") {
+            from(components["java"])
+        }
+    }
+}
+
+artifacts {
+    add("archives", tasks.jar)
+    add("archives", fat)
+    add("archives", sources)
+    add("archives", doc)
+    add("archives", File("${buildDir.absolutePath}/publications/maven/${project.name}-$version.pom"))
+}
diff --git a/src/main/kotlin/org/mechdancer/geometry/rotation3d/Angle3D.kt b/src/main/kotlin/org/mechdancer/geometry/rotation3d/Angle3D.kt
index 390c54e..972b44f 100644
--- a/src/main/kotlin/org/mechdancer/geometry/rotation3d/Angle3D.kt
+++ b/src/main/kotlin/org/mechdancer/geometry/rotation3d/Angle3D.kt
@@ -131,24 +131,24 @@ sealed class Angle3D(val first: Angle, val second: Angle, val third: Angle, val
                             firstAngle = .0  /*  arbitrary  */
                             /*  matrix.get(2, 1) == sin(firstAngle + thirdAngle)  */
                             /*  matrix.get(1, 1) == cos(firstAngle + thirdAngle)  */
-                            thirdAngle = (atan2(matrix.get(2, 1), matrix.get(1, 1)) - firstAngle)
+                            thirdAngle = (atan2(matrix[2, 1], matrix[1, 1]) - firstAngle)
                         }
                         doubleEquals(test, -1.0) -> {
                             secondAngle = PI
                             firstAngle = .0  /*  arbitrary  */
                             /*  matrix.get(1, 2) == -sin(firstAngle - thirdAngle)  */
                             /*  matrix.get(1, 1) == cos(firstAngle - thirdAngle)  */
-                            thirdAngle = (firstAngle - atan2(-matrix.get(1, 2), matrix.get(1, 1)))
+                            thirdAngle = (firstAngle - atan2(-matrix[1, 2], matrix[1, 1]))
                         }
                         else                     -> {
                             /*  matrix.get(0, 0) == cos(secondAngle)  */
-                            secondAngle = (if (neg) acos(matrix.get(0, 0)) else -acos(matrix.get(0, 0)))
+                            secondAngle = (if (neg) acos(matrix[0, 0]) else -acos(matrix[0, 0]))
                             /*  matrix.get(0, 1) == sin(firstAngle) * sin(secondAngle)  */
                             /*  matrix.get(0, 2) == cos(firstAngle) * sin(secondAngle)  */
-                            firstAngle = atan2(matrix.get(0, 1) / sin(secondAngle), matrix.get(0, 2) / sin(secondAngle))
+                            firstAngle = atan2(matrix[0, 1] / sin(secondAngle), matrix[0, 2] / sin(secondAngle))
                             /*  matrix.get(1, 0) == sin(secondAngle) * sin(thirdAngle)  */
                             /*  matrix.get(2, 0) == -(cos(thirdAngle) * sin(secondAngle))  */
-                            thirdAngle = atan2(matrix.get(1, 0) / sin(secondAngle), -matrix.get(2, 0) / sin(secondAngle))
+                            thirdAngle = atan2(matrix[1, 0] / sin(secondAngle), -matrix[2, 0] / sin(secondAngle))
                         }
                     }
                 }