# Calculate azimuth and elevation angles

If I have two frames: /parent and /child. I can use tf:lookuptransform to find the transformation between two frames. Now, I want to find the azimuth and elevation angles in spherical coordinate between two frames. Do ROS have any available function to do something like that?

Thanks

How would you define the azimuth and elevation angles "between two frames"? They give you 2DOF and a generic 3D transformation would need 6DOF...