@spiceErrorCheck<EOL>def axisar(axis, angle):
axis = stypes.toDoubleVector(axis)<EOL>angle = ctypes.c_double(angle)<EOL>r = stypes.emptyDoubleMatrix()<EOL>libspice.axisar_c(axis, angle, r)<EOL>return stypes.cMatrixToNumpy(r)<EOL>
Construct a rotation matrix that rotates vectors by a specified
angle about a specified axis.

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

:param axis: Rotation axis. 
:type axis: 3 Element vector (list, tuple, numpy array)
:param angle: Rotation angle, in radians. 
:type angle: float
:return: Rotation matrix corresponding to axis and angle.
:rtype: numpy array ((3, 3))