# rotation3d_z¶

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