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 |