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Solve the following problem using Python, implementing the functions described below, one line at a time
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Description:
 def raxisa(matrix):
 """ 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 """

    matrix = stypes.toDoubleMatrix(matrix)
    axis = stypes.emptyDoubleVector(3)
    angle = ctypes.c_double()
    libspice.raxisa_c(matrix, axis, ctypes.byref(angle))
    return stypes.cVectorToPython(axis), angle.value