pan>
    cos(psif)*sin(psit); -rw*cos(psit) rw*cos(psit); rw+rr* <span class="keyword">...</span>
    cos(psif)-rw*sin(psif)*sin(psit) rw+rr*cos(psif)+rw* <span class="keyword">...</span>
    sin(psif)*sin(psit)];
  R{7} = bsxfun(@plus,A*r,[x; y; 0]);
  hold <span class="string">off</span>
  aa = linspace(0,2*pi,201); plot3(2*sin(aa),2*cos(aa),0*aa,<span class="string">'k:'</span>,<span class="string">'LineWidth'</span>,2);
  hold <span class="string">on</span>

  r = A*[0; 0; rw] + [x; y; 0];
  P = [r R{1}