(theta, full=False)
return rmat.squeeze()
Returns a rotation matrix of a rotation about the Y-axis.

  Supports vector-valued theta, in which case the returned array is of shape
  (len(t), 3, 3), or (len(t), 4, 4) if full=True. If theta is scalar the batch
  dimension is squeezed out.

  Args:
    theta: The rotation amount.
    full: (bool) If true, returns a full 4x4 transfom.
Returns a rotation matrix of a rotation about the Y-axis.
Returns a rotation matrix of a rotation about the Y - axis .
def rotation_y_axis(theta, full=False):
  """Returns a rotation matrix of a rotation about the Y-axis.

  Supports vector-valued theta, in which case the returned array is of shape
  (len(t), 3, 3), or (len(t), 4, 4) if full=True. If theta is scalar the batch
  dimension is squeezed out.

  Args:
    theta: The rotation amount.
    full: (bool) If true, returns a full 4x4 transfom.
  """
  n, ct, st, rmat = _axis_rotation(theta, full)

  rmat[:, 0, 0:3] = np.vstack([ct, np.zeros(n), st]).T
  rmat[:, 1, 0:3] = np.array([[0, 1, 0]])
  rmat[:, 2, 0:3] = np.vstack([-st, np.zeros(n), ct]).T

  return rmat.squeeze()
def rotation_y_axis ( theta , full = False ) : n , ct , st , rmat = _axis_rotation ( theta , full ) rmat [ : , 0 , 0 : 3 ] = np . vstack ( [ ct , np . zeros ( n ) , st ] ) . T rmat [ : , 1 , 0 : 3 ] = np . array ( [ [ 0 , 1 , 0 ] ] ) rmat [ : , 2 , 0 : 3 ] = np . vstack ( [ - st , np . zeros ( n ) , ct ] ) . T return rmat . squeeze ( )