Fix rotation_matrix() for axis 2 and docs for axes 1 and 3
#57
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adtzlr
changed the title
rotation_matrix() at axis 2 and docs for axes 1 and 3rotation_matrix() for axis 2 and docs for axes 1 and 3
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closes #56
by changing the sign of the rotation angle for a rotation around axis 2. Also fixes the docs for rotations around axes 1 and 3 😊.
Now according to https://en.wikipedia.org/wiki/Rotation_matrix.