@spiceErrorCheck<EOL>def raxisa(matrix):
matrix = stypes.toDoubleMatrix(matrix)<EOL>axis = stypes.emptyDoubleVector(<NUM_LIT:3>)<EOL>angle = ctypes.c_double()<EOL>libspice.raxisa_c(matrix, axis, ctypes.byref(angle))<EOL>return stypes.cVectorToPython(axis), angle.value<EOL>
Compute the axis of the rotation given by an input matrix
and the angle of the rotation about that axis.

http://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/raxisa_c.html

:param matrix: Rotation matrix.
:type matrix: 3x3-Element Array of floats
:return: Axis of the rotation, Angle through which the rotation is performed
:rtype: tuple