def rotate(angle, iaxis):
    """
    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
    """
    angle = ctypes.c_double(angle)
    iaxis = ctypes.c_int(iaxis)
    mout = stypes.emptyDoubleMatrix()
    libspice.rotate_c(angle, iaxis, mout)
    return stypes.cMatrixToNumpy(mout)
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