def get_rotation_matrix(axis, angle):
    """Returns the rotation matrix.

    This function returns a matrix for the counterclockwise rotation
    around the given axis.
    The Input angle is in radians.

    Args:
        axis (vector):
        angle (float):

    Returns:
        Rotation matrix (np.array):
    """
    axis = normalize(np.array(axis))
    if not (np.array([1, 1, 1]).shape) == (3, ):
        raise ValueError('axis.shape has to be 3')
    angle = float(angle)
    return _jit_get_rotation_matrix(axis, angle)