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

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