(psif)*cos(psit) rr*sin(psif)-rw* ...
    cos(psif)*cos(psit); rw*sin(psit) -rw*sin(psit); rw+rr* ...
    cos(psif)-rw*sin(psif)*cos(psit) rw+rr*cos(psif)+rw* ...
    sin(psif)*cos(psit)];
  R{6} = bsxfun(@plus,A*r,[x; y; 0]);
  r = [rr*sin(psif)+rw*cos(psif)*sin(psit) rr*sin(psif)-rw* ...
    cos(psif)*sin(psit); -rw*cos(psit) rw*cos(psit); rw+rr* ...
    cos(psif)-rw*sin(psif)*sin(psit) rw+rr*cos(psif)+rw* ...
    sin(psif)*sin(psit)];
  R{7} = bsxfun(@plus,A*r,[x; y; 0]);
  hold off
  aa = linspace(0,2*p