python rotation matrix to angle code example

Example: Make Rotation matrix in Python

In [x]: theta = np.radians(30)
In [x]: c, s = np.cos(theta), np.sin(theta)
In [x]: R = np.array(((c, -s), (s, c)))
Out[x]: print(R) 
[[ 0.8660254 -0.5      ]
 [ 0.5        0.8660254]]