import math

def sphericalcoord(r, theta, phi): # altitude, longitude, latitude
    x = r * math.sin(theta) * math.cos(phi)
    y = r * math.sin(theta) * math.sin(phi)
    z = r * math.cos(theta)
    return sphere_x, sphere_y, sphere_z

def cartesian_to_spherical(x, y, z): # z is up
    r = math.sqrt(math.pow(x, 2) + math.pow(y, 2) + math.pow(z, 2))
    theta = math.acos(z / r)
    phi = math.atan(y / x)
    return r, theta, phi

import numpy as np
import math

spherecoord = np.array([r * math.sin(theta) * math.cos(phi),
                        r * math.sin(theta) * math.sin(phi), 
                        r * math.cos(theta)])

t = 0 # time

ecliptic = np.array([math.cos(t), math.sin(t), 0])
ecliptic.reshape(3, 1)
ecliptic = np.matrix(ecliptic)

epsilon = math.radians(23.44) # earths tilt in radians

axialtilt = np.array([1,                 0,                 0,
                      0, math.cos(epsilon), math.sin(epsilon),
                      0, math.sin(epsilon, math.cos(epsilon))])
axialtilt.reshape(3, 3)
axialtilt = np.matrix(axialtilt)

equatorial = axialtilt * ecliptic