Cinv(3,3) = COS(thetaRad)
_RL phiRad, thetaRad, psiRad
thetaRad = thetaEuler*deg2rad
Cinv(2,2) = COS(thetaRad)
Cinv(2,3) = -SIN(thetaRad)
Cinv(3,2) = SIN(thetaRad)