pytransform3d.coordinates.spherical_from_cartesian

pytransform3d.coordinates.spherical_from_cartesian(p)

Convert Cartesian coordinates to spherical coordinates.

Parameters:

parray-like, shape (…, 3)

Cartesian coordinates (x, y, z)

Returns:

qarray, shape (…, 3)

Spherical coordinates: radial distance (rho >= 0), inclination / elevation (0 <= theta <= pi), and azimuth (-pi <= phi <= pi)