In my opinion, rot_phi is to rotate the coordinate around X axis and rot_theta is to rotate the coordinate around Y axis. According to the formation of rotation matrix, the last matrix should be the rotation around Z axis intuitively. But what it does is to change the coordinate from [x,y,z] to [-x,z,y], which makes me confused. Could you explain what this matrix do here and why? Thanks a lot.
In my opinion, rot_phi is to rotate the coordinate around X axis and rot_theta is to rotate the coordinate around Y axis. According to the formation of rotation matrix, the last matrix should be the rotation around Z axis intuitively. But what it does is to change the coordinate from [x,y,z] to [-x,z,y], which makes me confused. Could you explain what this matrix do here and why? Thanks a lot.