Transform asteroid rotation to heliocentric ecliptic coordinates
r_ast is a vector that goes from the center of the asteroid to each vertex of the shape model as if you had stuck a set of rods in the center of a potato and pointing along the long axis, to the pole on top and 90 degrees to these to give X,Y,Z directions. 

The matrices above that you give then transform these r_ast vectors for the co-ordinates of the surface of the asteroid into the ecliptic plane as a function of time as the asteroid rotates, giving you r_ecl. It says in the Kaasalainen paper (I think) that r_ecl has an origin shifted to the center of the asteroid. If you are wanting a visualization of what the asteroid looks like relative to the Earth or Sun etc, then you will need to calculate the Sun->asteroid vector and the Sun->Earth vector using e.g. JPL HORIZONS and using the Vector Table ephemeris type or a programmatic wrapper to this (e.g. astroquery) or the NAIF SPICE toolkit and getting or generating a SPK kernel file for the asteroid (the normal e.g. de430.bsp JPL planetary ephemeris will handle the Sun->Earth part)