diff --git a/libs/main/math/pimathmatrix.h b/libs/main/math/pimathmatrix.h
index 897fe6ae..7d42fbc3 100644
--- a/libs/main/math/pimathmatrix.h
+++ b/libs/main/math/pimathmatrix.h
@@ -92,7 +92,7 @@ public:
 	/**
 	* @brief Constructor that calls the private resize method
 	*
-	* @return identitied matrix of type PIMathMatrixT
+	* @return resized matrix of type PIMathMatrixT
 	*/
 	PIMathMatrixT() { resize(Rows, Cols); }
 
@@ -100,7 +100,7 @@ public:
 	* @brief Constructor that calls the private resize method
 	*
 	* @param val is the PIVector with which the matrix is ​​filled
-	* @return identitied matrix of type PIMathMatrixT
+	* @return resized matrix of type PIMathMatrixT
 	*/
 	PIMathMatrixT(const PIVector<Type> &val) {
 		resize(Rows, Cols);
diff --git a/libs/main/math/pimathvector.h b/libs/main/math/pimathvector.h
index 190da7a9..09659fb2 100644
--- a/libs/main/math/pimathvector.h
+++ b/libs/main/math/pimathvector.h
@@ -1,5 +1,7 @@
 /*! \file pimathvector.h
  * \brief PIMathVector
+ *
+ * This file declare math vector class, which performs various vector operations
 */
 /*
 	PIP - Platform Independent Primitives
@@ -33,15 +35,44 @@ class PIMathMatrixT;
 
 #define PIMV_FOR(v, s) for (uint v = s; v < Size; ++v)
 
+//! \brief A class that works with vector operations, the input data of which are size and the data type of the vector
+//! @tparam Size number of matrix elements
+//! @tparam Type is the data type of the vector. There are can be basic C++ language data and different classes where the arithmetic operators(=, +=, -=, *=, /=, ==, !=, +, -, *, /)
+//!  of the C++ language are implemented
 template<uint Size, typename Type = double>
 class PIP_EXPORT PIMathVectorT {
 	typedef PIMathVectorT<Size, Type> _CVector;
 	static_assert(std::is_arithmetic<Type>::value, "Type must be arithmetic");
 public:
+	/**
+	* @brief Constructor that calls the private resize method
+	*
+	* @return resized vector of type PIMathMatrixT
+	*/
 	PIMathVectorT() {resize();}
+
+	/**
+	* @brief Constructor that fills a vector "PIMathVectorT" with the values ​​of another vector "PIVector"
+	*
+	* @tparam val vector of type PIVector which is identified PIMathVectorT
+	* @return vector of type PIMathVectorT with values ​​of vector val
+	*/
 	PIMathVectorT(const PIVector<Type> & val) {resize(); PIMV_FOR(i, 0) c[i] = val[i];}
+
+	/**
+	* @brief Constructor that fills a vector "PIMathVectorT" with the subtraction of two vectors
+	*
+	* @tparam st vector of type _CVector
+	* @tparam fn vector of type _CVector
+	* @return vector of type PIMathVectorT with values subtraction vectors "fn" and "st"
+	*/
 	PIMathVectorT(const _CVector & st, const _CVector & fn) {resize(); set(st, fn);}
 
+	/**
+	* @brief Method which returns size of the vector
+	*
+	* @return type uint shows number of elements in this vector
+	*/
 	uint size() const {return Size;}
 	_CVector & fill(const Type & v) {PIMV_FOR(i, 0) c[i] = v; return *this;}
 	_CVector & set(const _CVector & st, const _CVector & fn) {PIMV_FOR(i, 0) c[i] = fn[i] - st[i]; return *this;}
@@ -69,7 +100,7 @@ public:
 	_CVector & operator =(const _CVector & v) {memcpy(c, v.c, sizeof(Type) * Size); return *this;}
 	_CVector & operator =(const Type & v) {PIMV_FOR(i, 0) c[i] = v; return *this;}
 	bool operator ==(const _CVector & v) const {PIMV_FOR(i, 0) if (c[i] != v[i]) return false; return true;}
-    bool operator !=(const _CVector & v) const {return !(*this == v);}
+	bool operator !=(const _CVector & v) const {return !(*this == v);}
 	void operator +=(const _CVector & v) {PIMV_FOR(i, 0) c[i] += v[i];}
 	void operator -=(const _CVector & v) {PIMV_FOR(i, 0) c[i] -= v[i];}
 	void operator *=(const Type & v) {PIMV_FOR(i, 0) c[i] *= v;}
@@ -195,7 +226,7 @@ public:
 	_CVector & operator =(const _CVector & v) {c = v.c; return *this;}
 	_CVector & operator =(const Type & v) {PIMV_FOR(i, 0) c[i] = v; return *this;}
 	bool operator ==(const _CVector & v) const {PIMV_FOR(i, 0) if (c[i] != v[i]) return false; return true;}
-    bool operator !=(const _CVector & v) const {return !(*this == v);}
+	bool operator !=(const _CVector & v) const {return !(*this == v);}
 	void operator +=(const _CVector & v) {PIMV_FOR(i, 0) c[i] += v[i];}
 	void operator -=(const _CVector & v) {PIMV_FOR(i, 0) c[i] -= v[i];}
 	void operator *=(const Type & v) {PIMV_FOR(i, 0) c[i] *= v;}
@@ -207,7 +238,7 @@ public:
 	_CVector operator -(const _CVector & v) const {_CVector tv = _CVector(*this); PIMV_FOR(i, 0) tv[i] -= v[i]; return tv;}
 	_CVector operator *(const Type & v) const {_CVector tv = _CVector(*this); PIMV_FOR(i, 0) tv[i] *= v; return tv;}
 	_CVector operator /(const Type & v) const {_CVector tv = _CVector(*this); PIMV_FOR(i, 0) tv[i] /= v; return tv;}
-    _CVector operator *(const _CVector & v) const {if ((c.size() != 3) && (v.size() != 3)) return _CVector(); _CVector tv(3); tv.fill(Type(1)); tv[0] = c[1]*v[2] - v[1]*c[2]; tv[1] = v[0]*c[2] - c[0]*v[2]; tv[2] = c[0]*v[1] - v[0]*c[1]; return tv;}
+	_CVector operator *(const _CVector & v) const {if ((c.size() != 3) && (v.size() != 3)) return _CVector(); _CVector tv(3); tv.fill(Type(1)); tv[0] = c[1]*v[2] - v[1]*c[2]; tv[1] = v[0]*c[2] - c[0]*v[2]; tv[2] = c[0]*v[1] - v[0]*c[1]; return tv;}
 	_CVector operator &(const _CVector & v) const {_CVector tv = _CVector(*this); PIMV_FOR(i, 0) tv[i] *= v[i]; return tv;}
 	Type operator ^(const _CVector & v) const {Type tv(0); PIMV_FOR(i, 0) tv += c[i] * v[i]; return tv;}