Source code for attitude.coordinates

import numpy as N

def spherical(coordinates):
    """No error is propagated"""
    c = coordinates
    r = N.linalg.norm(c,axis=0)
    theta = N.arccos(c[2]/r)
    phi = N.arctan2(c[1],c[0])
    return N.column_stack((r,theta,phi))

def cartesian(spherical):
    r,theta,phi = spherical
    z = r*N.cos(theta)
    zc = r*N.sin(theta)
    x = zc*N.sin(phi)
    y = zc*N.cos(phi)
    return x,y,z

def centered(coordinates):
    """
    Centers coordinate distribution with respect to its
    mean on all three axes. This is used as the input to
    the regression model, so it can be converted easily
    into radial coordinates.
    """
    coordinates = N.array(coordinates)
    means = N.mean(coordinates,axis=0)
    return coordinates - means