code: def axisar(axis, angle):
      
      axis = stypes.toDoubleVector(axis)
      angle = ctypes.c_double(angle)
      r = stypes.emptyDoubleMatrix()
      libspice.axisar_c(axis, angle, r)
      return stypes.cMatrixToNumpy(r)
docs: Construct a rotation matrix that rotates vectors by a specified
      angle about a specified axis.
  
      http://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/axisar_c.html
  
      :param axis: Rotation axis. 
      :type axis: 3 Element vector (list, tuple, numpy array)
      :param angle: Rotation angle, in radians. 
      :type angle: float
      :return: Rotation matrix corresponding to axis and angle.
      :rtype: numpy array ((3, 3))