rotation3d_x

Rotation matrix about the x axis by the input angle \(\Phi\)

\[\begin{split}\mathbf{\tau}_x = \begin{bmatrix} 1 & 0 & 0 \\ 0 & \cos(\Phi) & -\sin(\Phi) \\ 0 & \sin(\Phi) & \cos(\Phi) \end{bmatrix}\end{split}\]

param angle

angle of rotation in radians about the x axis

type angle

float

returns

3x3 rotation matrix about the x axis

rtype

np.array