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   Transformation matrix from the perifocal frame to the inertial frame.
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   Form:
   c = CP2I( i, L, w )
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   ------
   Inputs
   ------
   i               (3,1) Inclination
   L               (3,1) Longitude of the ascending node
   w               (3,1) Argument of perigee

   -------
   Outputs
   -------
   c               (3,3) Transformation matrix

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   References: Bate, Roger R., Fundamentals of Astrodynamics, Dover 
                Publications, Inc., New York, 1971, pp. 82-83.
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