code: def eul2xf(eulang, axisa, axisb, axisc):
      
      assert len(eulang) is 6
      eulang = stypes.toDoubleVector(eulang)
      axisa = ctypes.c_int(axisa)
      axisb = ctypes.c_int(axisb)
      axisc = ctypes.c_int(axisc)
      xform = stypes.emptyDoubleMatrix(x=6, y=6)
      libspice.eul2xf_c(eulang, axisa, axisb, axisc, xform)
      return stypes.cMatrixToNumpy(xform)
docs: This routine computes a state transformation from an Euler angle
      factorization of a rotation and the derivatives of those Euler
      angles.
  
      http://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/eul2xf_c.html
  
      :param eulang: An array of Euler angles and their derivatives.
      :type eulang: 6-Element Array of floats
      :param axisa: Axis A of the Euler angle factorization.
      :type axisa: int
      :param axisb: Axis B of the Euler angle factorization.
      :type axisb: int
      :param axisc: Axis C of the Euler angle factorization.
      :type axisc: int
      :return: A state transformation matrix.
      :rtype: 6x6-Element Array of floats