# 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