Is your feature request related to a problem? Please describe.
the travis-ci test fails for #823 because the minimum NumPy version for py35-min is version 1.10.4 - the np.roll() function used was updated to allow multiple axes in NumPy-1.12

Describe the solution you'd like
NEP-29 is a proposal by maintainers of IPython, Matplotlib, SciPy, and NumPy that proposes the support window for Python and Numpy.

TL;DR: in the immediate future, drop support for Python-3.5 and Numpy<1.14

Describe alternatives you've considered

• statically create the 3 rotation matrices, removing the use of np.roll completely
• use the pre-NumPy-1.12 version of np.roll

Additional context
Since many other major packages that are used by pvlib are conforming to NEP-29, it makes a lot of sense for pvlib to also conform.