parameters: (self, vector, phi, axis)
return_statement: return rotated
docstring: Rotate vector around (unit vector) axis by angle phi.
          Uses Rodrigues' rotation formula.
docstring_summary: Rotate vector around (unit vector) axis by angle phi.
          Uses Rodrigues' rotation formula.
docstring_tokens: Rotate vector around ( unit vector ) axis by angle phi . Uses Rodrigues rotation formula .
function: def rotate_vector(self, vector, phi, axis):
          """
          Rotate vector around (unit vector) axis by angle phi.
          Uses Rodrigues' rotation formula.
  
          """
          rotated = vector * np.cos(phi) + np.cross(axis, vector) * np.sin(phi) \
              + axis * np.dot(axis, vector) * (1 - np.cos(phi))
          return rotated
function_tokens: def rotate_vector ( self , vector , phi , axis ) : rotated = vector * np . cos ( phi ) + np . cross ( axis , vector ) * np . sin ( phi ) + axis * np . dot ( axis , vector ) * ( 1 - np . cos ( phi ) ) return rotated