set of functions to rotate a vector in space. main() rotates so that vector is fully along Z axis

rotation.py

#!/usr/bin/python

from sympy import Matrix
from math import sin, cos, pi, atan, sqrt

def degToRad(t):
   """docstring for degToRad"""
   return t * (pi/180)

def rotateAroundX(v, theta):
   theta = degToRad(theta)
   r = Matrix((
      (1, 0, 0),
      (0, cos(theta), -sin(theta)),
      (0, sin(theta), cos(theta))
   ))
   return r * v

def rotateAroundY(v, theta):
   theta = degToRad(theta)
   r = Matrix((
      (cos(theta), 0, -sin(theta)),
      (0, 1, 0),
      (sin(theta), 0, cos(theta))
   ))
   return r * v

def rotateAroundZ(v, theta):
   theta = degToRad(theta)
   r = Matrix((
      (cos(theta), -sin(theta), 0),
      (sin(theta), cos(theta), 0),
      (0, 0, 1)
   ))
   return r * v

def main():
   v = Matrix((1,1,1))
   v = rotateAroundX(v,45)
   print v
   print " "
   v = rotateAroundY(v, atan( 1.0/sqrt(2) )*180/pi )
   print atan( 1.0/sqrt(2) )
   print v

if __name__ == '__main__':
   main()