You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: axisAngle.m
    path of file: ./repos/LADAC/utilities/axes_transformation
    
    the code of the file until where you have to start completion: function v_rot = axisAngle( v, axis, angle ) %#codegen
% axisAngle rotates a vector about an axis with an angle [1].
% 
% Inputs:
%   v       vectors to be rotated (3xN array for N vectors)
%   axis    axis to rotate about (3xN array); no need to be a unit vector
%   angle   angles to rotate about (1xN array), in rad
% 
% Outputs:
%   v_rot   rotated vectors (3xN array)
% 
% Literature:
%   [1] https://en.wikipedia.org/wiki/Axisï¿½angle_representation
% 

% Disclamer:
%   SPDX-License-Identifier: GPL-3.0-only
% 
%   Copyright (C) 2020-2022 Yannic Beyer

    
function v_rot = axisAngle( v, axis, angle ) %#codegen
% axisAngle rotates a vector about an axis with an angle [1].
% 
% Inputs:
%   v       vectors to be rotated (3xN array for N vectors)
%   axis    axis to rotate about (3xN array); no need to be a unit vector
%   angle   angles to rotate about (1xN array), in rad
% 
% Outputs:
%   v_rot   rotated vectors (3xN array)
% 
% Literature:
%   [1] https://en.wikipedia.org/wiki/Axisï¿½angle_representation
% 

% Disclamer:
%   SPDX-License-Identifier: GPL-3.0-only
% 
%   Copyright (C) 2020-2022 Yannic Beyer
%   Copyright (C) 2022 TU Braunschweig, Institute of Flight Guidance
% *************************************************************************

v_rot       = zeros( size(v) );
axis_length = vecnorm( axis, 2, 1 );
for i = 1:3
    axis(i,:) = axis(i,:) ./ axis_length;
end