Robert Hooke had published his concept of gravitational forces in 1674, stating that all celestial bodies have an attraction or gravitating power towards their own centers, and also attract all the other celestial bodies that are within the sphere of their activity. He further stated that gravitational attraction increases by how much nearer the body wrought upon is to its own center. In correspondence with Isaac Newton from 1679 and 1680, Hooke conjectured that gravitational forces might decrease according to the double of the distance between the two bodies. Hooke urged Newton, who was a pioneer in the development of calculus, to work through the mathematical details of Keplerian orbits to determine if Hooke's hypothesis was correct. Newton's own investigations verified that Hooke was correct, but due to personal differences between the two men, Newton chose not to reveal this to Hooke. Isaac Newton kept quiet about his discoveries until 1684, at which time he told a friend, Edmond Halley, that he had solved the problem of gravitational orbits, but had misplaced the solution in his office. After being encouraged by Halley, Newton decided to develop his ideas about gravity and publish all of his findings. In November 1684, Isaac Newton sent a document to Edmund Halley, now lost but presumed to have been titled De motu corporum in gyrum (Latin for "On the motion of bodies in an orbit"). Halley presented Newton's findings to the Royal Society of London, with a promise that a fuller presentation would follow. Newton later recorded his ideas in a three-book set, entitled Philosophiæ Naturalis Principia Mathematica (English: Mathematical Principles of Natural Philosophy). The first was received by the Royal Society on 28 April 1685–86; the second on 2 March 1686–87; and the third on 6 April 1686–87. The Royal Society published Newton's entire collection at their own expense in May 1686–87.