@spiceErrorCheck<EOL>def rotate(angle, iaxis):
angle = ctypes.c_double(angle)<EOL>iaxis = ctypes.c_int(iaxis)<EOL>mout = stypes.emptyDoubleMatrix()<EOL>libspice.rotate_c(angle, iaxis, mout)<EOL>return stypes.cMatrixToNumpy(mout)<EOL>
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