rotation3d_zΒΆ
Rotation matrix about the z axis by the input angle \(\Psi\)
\[\begin{split}\mathbf{\tau}_z = \begin{bmatrix}
\cos(\Psi) & -\sin(\Psi) & 0 \\
\sin(\Psi) & \cos(\Psi) & 0 \\
0 & 0 & 1
\end{bmatrix}\end{split}\]
- param angle
angle of rotation in radians about the z axis
- type angle
float
- returns
3x3 rotation matrix about the z axis
- rtype
np.array