diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt
index 546031b9..fc8b23aa 100644
--- a/src/core/CMakeLists.txt
+++ b/src/core/CMakeLists.txt
@@ -156,7 +156,7 @@ set(ARGOS3_SOURCES_CORE
   utility/math/cylinder.cpp
   utility/math/convex_hull.cpp
   utility/math/pose2.cpp
-  utility/math/transforms.h
+  utility/math/transforms.cpp
   utility/math/vector2.cpp
   utility/math/vector3.cpp
   utility/math/plane.cpp
diff --git a/src/core/utility/math/transforms.cpp b/src/core/utility/math/transforms.cpp
index ffb4b463..a0725f15 100644
--- a/src/core/utility/math/transforms.cpp
+++ b/src/core/utility/math/transforms.cpp
@@ -1,29 +1,30 @@
 #include "transforms.h"
 
-using namespace argos;
+namespace argos {
 
-/****************************************/
-/****************************************/
+   /****************************************/
+   /****************************************/
 
-CVector3 GlobalToLocal(const CVector3& c_global,
-                       const CVector3& c_translation,
-                       const CQuaternion& c_orientation) {
-   CVector3 cLocal = c_global - c_translation;
-   cLocal.Rotate(c_orientation.Inverse());
-   return cLocal;
-}
+   CVector3 GlobalToLocal(CVector3 c_global,
+                          CVector3 c_translation,
+                          CQuaternion c_orientation) {
+      CVector3 cLocal = c_global - c_translation;
+      cLocal.Rotate(c_orientation.Inverse());
+      return cLocal;
+   }
 
-/****************************************/
-/****************************************/
+   /****************************************/
+   /****************************************/
 
-CVector3 LocalToGlobal(const CVector3& c_local,
-                       const CVector3& c_translation,
-                       const CQuaternion& c_orientation) {
-   CVector cGlobal = c_local.Rotate(c_orientation);
-   cGlobal += c_translation;
-   return cGlobal;
-}
+   CVector3 LocalToGlobal(CVector3 c_local,
+                          CVector3 c_translation,
+                          CQuaternion c_orientation) {
+      CVector3 cGlobal = c_local.Rotate(c_orientation);
+      cGlobal += c_translation;
+      return cGlobal;
+   }
 
-/****************************************/
-/****************************************/
+   /****************************************/
+   /****************************************/
 
+}
diff --git a/src/core/utility/math/transforms.h b/src/core/utility/math/transforms.h
index dfdc8a82..7a47c8b8 100644
--- a/src/core/utility/math/transforms.h
+++ b/src/core/utility/math/transforms.h
@@ -6,13 +6,13 @@
 
 namespace argos {
 
-   CVector3 GlobalToLocal(const CVector3& c_global,
-                          const CVector3& c_translation,
-                          const CQuaternion& c_orientation);
+   CVector3 GlobalToLocal(CVector3 c_global,
+                          CVector3 c_translation,
+                          CQuaternion c_orientation);
 
-   CVector3 LocalToGlobal(const CVector3& c_local,
-                          const CVector3& c_translation,
-                          const CQuaternion& c_orientation);
+   CVector3 LocalToGlobal(CVector3 c_local,
+                          CVector3 c_translation,
+                          CQuaternion c_orientation);
 
 }