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:

angle of rotation in radians about the z axis

type angle:

float

returns:

3x3 rotation matrix about the z axis

rtype:

np.array