RPhiTheta2Cart:

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   Computes the transformation matrix from an r, phi, theta frame
   to a standard cartesian frame. In an RPT frame, r is the radial
   direction, phi is 'east', and theta is in the direction of
   co-elevation. When theta is zero the r vector is in the xy-plane.
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   Form: 
   cRPT2Cart = RPhiTheta2Cart(r)
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   Inputs
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   position    (3,1)  Position in cartesian coordinates. 

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   Outputs
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   cRPT2Cart   (3,3)  The transformation matrix

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Children:

Math: Linear/Cross
Math: Linear/Unit