def rotation_matrix(u, theta):
    """Return matrix that implements the rotation around the vector :math:`u`
    by the angle :math:`\\theta`, cf.
    https://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle.

    :param u: rotation vector
    :param theta: rotation angle
    """
    assert numpy.isclose(numpy.inner(u, u), 1.0), "the rotation axis must be unitary"

    # Cross-product matrix.
    cpm = numpy.array([[0.0, -u[2], u[1]], [u[2], 0.0, -u[0]], [-u[1], u[0], 0.0]])
    c = numpy.cos(theta)
    s = numpy.sin(theta)
    R = numpy.eye(3) * c + s * cpm + (1.0 - c) * numpy.outer(u, u)
    return R
Return matrix that implements the rotation around the vector :math:`u`
    by the angle :math:`\\theta`, cf.
    https://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle.

    :param u: rotation vector
    :param theta: rotation angle