def rot_matrix_zaxis(theta=0):
    '\n    Rotation matrix of a transformation around Z axis.\n\n    Parameters\n    ----------\n    theta : `float`\n        Rotation angle in radians\n    Returns\n    -------\n    A : `np.ndarray`\n        Rotation matrix, with shape (3, 3)\n    '
    A = np.array([[np.cos(theta), ((- 1) * np.sin(theta)), 0], [np.sin(theta), np.cos(theta), 0], [0, 0, 1]])
    return A
Rotation matrix of a transformation around Z axis.

Parameters
----------
theta : `float`
    Rotation angle in radians
Returns
-------
A : `np.ndarray`
    Rotation matrix, with shape (3, 3)
def rot_matrix_zaxis(theta=0):
    '\n    Rotation matrix of a transformation around Z axis.\n\n    Parameters\n    ----------\n    theta : `float`\n        Rotation angle in radians\n    Returns\n    -------\n    A : `np.ndarray`\n        Rotation matrix, with shape (3, 3)\n    '
    A = np.array([[np.cos(theta), ((- 1) * np.sin(theta)), 0], [np.sin(theta), np.cos(theta), 0], [0, 0, 1]])
    return A