code: def rotate(angle, iaxis):
      
      angle = ctypes.c_double(angle)
      iaxis = ctypes.c_int(iaxis)
      mout = stypes.emptyDoubleMatrix()
      libspice.rotate_c(angle, iaxis, mout)
      return stypes.cMatrixToNumpy(mout)
docs: Calculate the 3x3 rotation matrix generated by a rotation
      of a specified angle about a specified axis. This rotation
      is thought of as rotating the coordinate system.
  
      http://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/rotate_c.html
  
      :param angle: Angle of rotation (radians).
      :type angle: float
      :param iaxis: Axis of rotation X=1, Y=2, Z=3.
      :type iaxis: int
      :return: Resulting rotation matrix
      :rtype: 3x3-Element Array of floats