code: def rotate(self, angle, axis):
          
          self.matrix = np.dot(self.matrix, transforms.rotate(angle, axis))
docs: Rotate the matrix by some angle about a given axis.
  
          The rotation is applied *after* the transformations already present
          in the matrix.
  
          Parameters
          ----------
          angle : float
              The angle of rotation, in degrees.
          axis : array-like
              The x, y and z coordinates of the axis vector to rotate around.