private static LineSegment toCartesian(LineSegment p) {
        Position start = new Position(p.getStart().x, p.getStart().y, p.getStart().z);
        Position end = new Position(p.getEnd().x, p.getEnd().y, p.getEnd().z);

        if (p.isRotation()) {
          double startA = p.getStart().a;
          double startB = p.getStart().b;
          double startC = p.getStart().c;
          double endA = p.getEnd().a;
          double endB = p.getEnd().b;
          double endC = p.getEnd().c;

          // X-Axis rotation
          // x1 = x0
          // y1 = y0cos(u) − z0sin(u)
          // z1 = y0sin(u) + z0cos(u)	
          if (startA != 0) {
            double sinA = Math.sin(Math.toRadians(startA));
            double cosA = Math.cos(Math.toRadians(startA));

            start.y = start.y * cosA - start.z * sinA;
            start.z = start.y * sinA + start.z * cosA;
          }
          if (endA != 0) {
            double sinA = Math.sin(Math.toRadians(endA));
            double cosA = Math.cos(Math.toRadians(endA));

            end.y = end.y * cosA - end.z * sinA;
            end.z = end.y * sinA + end.z * cosA;
          }

          // Y-Axis rotation
          // x2 = x1cos(v) + z1sin(v)
          // y2 = y1
          // z2 = − x1sin(v) + z1cos(v)	
          if (startB != 0) {
            double sinB = Math.sin(Math.toRadians(startB));
            double cosB = Math.cos(Math.toRadians(startB));

            start.x = start.x * cosB + start.z * sinB;
            start.z = -1 * start.x * sinB + start.z * cosB;
          }
          if (endB != 0) {
            double sinB = Math.sin(Math.toRadians(endB));
            double cosB = Math.cos(Math.toRadians(endB));

            end.x = end.x * cosB + end.z * sinB;
            end.z = -1 * end.x * sinB + end.z * cosB;
          }
          
          // Z-Axis rotation
          // x3 = x2cos(w) − y2sin(w)
          // y3 = x2sin(w) + y2cos(w)
          // z3 = z2	
          if (startC != 0) {
            double sinC = Math.sin(Math.toRadians(startC));
            double cosC = Math.cos(Math.toRadians(startC));

            start.x = start.x * cosC - start.y * sinC;
            start.y = start.x * sinC + start.y * cosC;
          }
          if (endC != 0) {
            double sinC = Math.sin(Math.toRadians(endC));
            double cosC = Math.cos(Math.toRadians(endC));

            end.x = end.x * cosC - end.y * sinC;
            end.y = end.x * sinC + end.y * cosC;
          }
        }

        LineSegment next = new LineSegment(start, end, p.getLineNumber());
        next.setIsArc(p.isArc());
        next.setIsFastTraverse(p.isFastTraverse());
        next.setIsRotation(p.isFastTraverse());
        next.setIsZMovement(p.isZMovement());
        next.setSpeed(p.getSpeed());
        next.setToolHead(p.getToolhead());

        return next;
    }