Function NadirPointing::TRIAD(Rvector3& V1, Rvector3& V2, Rvector3& W1, Rvector3& W2) calculates rotation matrix from an orthogonal coordinate system <r1,r2,r3> to another orthogonal coordinate system <s1,s2,s3>. Where: r1, r2, r3, s1, s2, and s3 are unit vectors along orthogonal axis expressed in a reference frame.
This function uses the following equation to calculate the rotation matrix. It is incorrect.
Rmatrix33 resultRotMatrix = Outerproduct(s1,r1) + Outerproduct(s2,r2) + Outerproduct(s3,r3) ;
We need to verify and replace it by a correct one.