@spiceErrorCheck<EOL>def rav2xf(rot, av):
rot = stypes.toDoubleMatrix(rot)<EOL>av = stypes.toDoubleVector(av)<EOL>xform = stypes.emptyDoubleMatrix(x=<NUM_LIT:6>, y=<NUM_LIT:6>)<EOL>libspice.rav2xf_c(rot, av, xform)<EOL>return stypes.cMatrixToNumpy(xform)<EOL>
This routine determines a state transformation matrix
from a rotation matrix and the angular velocity of the
rotation.

http://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/rav2xf_c.html

:param rot: Rotation matrix.
:type rot: 3x3-Element Array of floats
:param av: Angular velocity vector.
:type av: 3-Element Array of floats
:return: State transformation associated with rot and av.
:rtype: 6x6-Element Array of floats