def rot_matrix_yaxis(theta=0):
    '\n    Rotation matrix of a transformation around Y 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), 0, np.sin(theta)], [0, 1, 0], [((- 1) * np.sin(theta)), 0, np.cos(theta)]])
    return A
Rotation matrix of a transformation around Y axis.

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