To make it easier to understand, add a switch to your layout:
You have three routers.
Each router has one interface in subnet 10.1.1.0/24: ROUTER1: 10.1.1.10, ROUTER2: 10.1.1.20, ROUTER3: 10.1.1.30
These interfaces are all patched into ports in VLAN 10 in a 2950.
The 2950 has a port in VLAN 10 patched into the firewall with IP address 10.1.1.1/24.
The firewall has routes, eg,
192.168.16.0/24 --> 10.1.1.10
192.168.17.0/24 --> 10.1.1.20
192.168.18.0/24 --> 10.1.1.30
Does that make more sense?