def rot_axis2(theta):
    ct = cos(theta)
    st = sin(theta)
    lil = ((ct, 0, -st),
           (0, 1, 0),
           (st, 0, ct))
    return Matrix(lil)
Returns a rotation matrix for a rotation of theta (in radians) about
dataset/ETHPy150Open sympy/sympy/sympy/matrices/dense.py/rot_axis2