rotation3d_y

Rotation matrix about the y axis by the input angle \(\Theta\)

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

param angle

angle of rotation in radians about the y axis

type angle

float

returns

3x3 rotation matrix about the y axis

rtype

np.array