def rot_z(cls, z: Tensor) -> Se3:
        """Construct a z-axis rotation.

        Args:
            z: the z-axis rotation angle.

        """
        zs = zeros_like(z)
        return cls(So3.rot_z(z), stack((zs, zs, zs), -1))
Construct a z-axis rotation.

        Args:
            z: the z-axis rotation angle.

        
kornia/geometry/liegroup/se3.py