def _rot(axis, angle):
 if (axis == 1):
  return Matrix(rot_axis1(angle).T)
 elif (axis == 2):
  return Matrix(rot_axis2(angle).T)
 elif (axis == 3):
  return Matrix(rot_axis3(angle).T)

def _rot ( axis , angle ) : if ( axis == 1 ) : return Matrix ( rot_axis1 ( angle ) . T ) elif ( axis == 2 ) : return Matrix ( rot_axis2 ( angle ) . T ) elif ( axis == 3 ) : return Matrix ( rot_axis3 ( angle ) . T )
dcm for simple axis 1 .