Let's review our rotation matrices to practice our coding skills.

Given a PSI rotation angle, the corresponding rotation matrix is given by

For a given rotation of

We can write this out in code as:

psi $=10$;

psi$\_$in$\_$radians $=$ deg$2$rad$($psi$)$;

Rz$\_$psi $=[$ cos$($psi$\_$in$\_$radians$),$ sin$($psi$\_$in$\_$radians$),0$;

$-$sin$($psi$\_$in$\_$radians$),$ cos$($psi$\_$in$\_$radians$),0$;

$0,0,1]$;

We can do the same for the other angles theta and phi.

It can be tedious to write this all out whenever we need to create a rotation matrix. Instead, we should create a function.

Write a function that allows a user to select the axes of rotation and the amount of the rotation $($in degrees$).$

Use strings with $"$ for the text entry

"phi" or $"$x$"$ for a rotation

"theta" or $"$y$"$ for a rotation

"psi" or $"$z$"$ for a rotation

The input should be in degrees as well.