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Bug in BaseChangeMatrix, TransformFromCoordSys, TransformToCoordSys #236

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Bug in BaseChangeMatrix, TransformFromCoordSys, TransformToCoordSys #236

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12 changes: 6 additions & 6 deletions src/Spatial/Euclidean/CoordinateSystem.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -161,9 +161,9 @@ public CoordinateSystem BaseChangeMatrix
get
{
var matrix = Build.DenseOfColumnVectors(XAxis.ToVector(), YAxis.ToVector(), ZAxis.ToVector());
var cs = new CoordinateSystem(this);
cs.SetRotationSubMatrix(matrix.Transpose());
return cs;
var baseCs = new CoordinateSystem();
baseCs.SetRotationSubMatrix(matrix.Transpose());
return baseCs;
}
}

Expand Down Expand Up @@ -256,7 +256,7 @@ public static CoordinateSystem Rotation(Angle angle, Vector3D v)
/// <returns>A rotated coordinate system</returns>
public static CoordinateSystem Rotation(Angle yaw, Angle pitch, Angle roll)
{
var cs = new CoordinateSystem();
var cs = new CoordinateSystem();
var cosY = yaw.Cos;
var sinY = yaw.Sin;
var cosP = pitch.Cos;
Expand All @@ -276,7 +276,7 @@ public static CoordinateSystem Rotation(Angle yaw, Angle pitch, Angle roll)
cs[1, 2] = sinY * sinP * cosR - cosY * sinR;
cs[2, 2] = cosP * cosR;

return cs;
return cs;
}
/// <summary>
/// Rotates around Z
Expand Down Expand Up @@ -354,7 +354,7 @@ public static CoordinateSystem Translation(Vector3D translation)
/// <summary>
/// Creates a rotating coordinate system
/// </summary>
/// <param name="r">A 3�3 matrix with the rotation portion</param>
/// <param name="r">A 3�3 matrix with the rotation portion</param>
/// <param name="coordinateSystem">A rotated coordinate system</param>
/// <returns>A rotating coordinate system</returns>
public static CoordinateSystem SetRotationSubMatrix(Matrix<double> r, CoordinateSystem coordinateSystem)
Expand Down