code: def _make_elementary_quat(axis, angles):
      quat = np.zeros((angles.shape[0], 4))
  
      quat[:, 3] = np.cos(angles / 2)
      quat[:, _AXIS_TO_IND[axis]] = np.sin(angles / 2)
      return quat
  
imports: from __future__ import division, print_function, absolute_import
  import re
  import warnings
  import numpy
  import scipy.linalg
  from scipy._lib._util import check_random_state
label_desc: Use image node_id 3 for calling a global function with example usage: _make_elementary_quat(axis, angles) and returns: quat