; rw+rr*cos(psif)-rw*sin(psif)*cos(psit+MM)];
  R{5} = bsxfun(@plus,A*r,[x; y; 0]);
  r = [rr*sin(psif)+rw*cos(psif)*cos(psit) rr*sin(psif)-rw* <span class="keyword">...</span>
    cos(psif)*cos(psit); rw*sin(psit) -rw*sin(psit); rw+rr* <span class="keyword">...</span>
    cos(psif)-rw*sin(psif)*cos(psit) rw+rr*cos(psif)+rw* <span class="keyword">...</span>
    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* <span class="keyword">...</s