initializeConstantRotationMatrices.m

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%                      CONSTANT ROTATION MATRICES                         %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
rotMat.W_Rot_Bc1 = [cos(geom.alpha1) -sin(geom.alpha1) 0;...
             sin(geom.alpha1)  cos(geom.alpha1) 0;...
             0            0           1];
rotMat.B31_Rot_B41 = eye(3);
rotMat.B11_Rot_Tc1 = eye(3);
rotMat.Tc1_Rot_Bc2 = [cos(geom.alpha2) -sin(geom.alpha2) 0;...
                      sin(geom.alpha2)  cos(geom.alpha2) 0;...
                                0            0           1];
rotMat.B32_Rot_B42 = eye(3);  
rotMat.B12_Rot_Tc2 = eye(3);
rotMat.Tc2_Rot_P22 = [0.95853460763586 -0.27664713597974  0.0683942111482;...
                      0.28497614981675  0.93051946315663 -0.23004808784757;...
                      0                 0.23999977258511  0.9707729441837];
rotMat.P22_Rot_B52 = eye(3);
rotMat.B52_Rot_P32 = eye(3);
rotMat.P32_Rot_D22 = [1               0                0;...
                      0 0.9707729441837 0.23999977258512;...
                      0 -0.23999977258512 0.9707729441837];