code: def rav2xf(rot, av):
      
      rot = stypes.toDoubleMatrix(rot)
      av = stypes.toDoubleVector(av)
      xform = stypes.emptyDoubleMatrix(x=6, y=6)
      libspice.rav2xf_c(rot, av, xform)
      return stypes.cMatrixToNumpy(xform)
docs: This routine determines a state transformation matrix
      from a rotation matrix and the angular velocity of the
      rotation.
  
      http://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/rav2xf_c.html
  
      :param rot: Rotation matrix.
      :type rot: 3x3-Element Array of floats
      :param av: Angular velocity vector.
      :type av: 3-Element Array of floats
      :return: State transformation associated with rot and av.
      :rtype: 6x6-Element Array of floats