code: def raxisa(matrix):
      
      matrix = stypes.toDoubleMatrix(matrix)
      axis = stypes.emptyDoubleVector(3)
      angle = ctypes.c_double()
      libspice.raxisa_c(matrix, axis, ctypes.byref(angle))
      return stypes.cVectorToPython(axis), angle.value
docs: Compute the axis of the rotation given by an input matrix
      and the angle of the rotation about that axis.
  
      http://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/raxisa_c.html
  
      :param matrix: Rotation matrix.
      :type matrix: 3x3-Element Array of floats
      :return: Axis of the rotation, Angle through which the rotation is performed
      :rtype: tuple