_RL phiRad, thetaRad, psiRad
phiRad = phiEuler *deg2rad
Dinv(1,1) = COS(phiRad)
Dinv(1,2) = -SIN(phiRad)
Dinv(2,1) = SIN(phiRad)
Dinv(2,2) = COS(phiRad)