<SYSTEM_TASK:>
Solve the following problem using Python, implementing the functions described below, one line at a time
<END_TASK>
<USER_TASK:>
Description:
 def eul2xf(eulang, axisa, axisb, axisc):
 """ This routine computes a state transformation from an Euler angle factorization of a rotation and the derivatives of those Euler angles. http://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/eul2xf_c.html :param eulang: An array of Euler angles and their derivatives. :type eulang: 6-Element Array of floats :param axisa: Axis A of the Euler angle factorization. :type axisa: int :param axisb: Axis B of the Euler angle factorization. :type axisb: int :param axisc: Axis C of the Euler angle factorization. :type axisc: int :return: A state transformation matrix. :rtype: 6x6-Element Array of floats """

    assert len(eulang) is 6
    eulang = stypes.toDoubleVector(eulang)
    axisa = ctypes.c_int(axisa)
    axisb = ctypes.c_int(axisb)
    axisc = ctypes.c_int(axisc)
    xform = stypes.emptyDoubleMatrix(x=6, y=6)
    libspice.eul2xf_c(eulang, axisa, axisb, axisc, xform)
    return stypes.cMatrixToNumpy(xform)