[bexsella]

I work with embedded DSPs, and there are certainly points where the maths gets incredibly dense and hard to intuitively parse. Your last point has proven true for me many times. Luckily, with the exception one block of code, the maths is detailed plainly above the implementation. So, while there might be an occasion where I might not fully understand what's going on, I can see where the original author of the code was coming from, and can follow the following code accordingly. Indeed, I believe one of the comment blocks does start with "Here be dragons".