def multiply_transform_old(t1, t2):
if _is_indexable(t1) and len(t1) == <NUM_LIT:2>:<EOL><INDENT>t1m = tf.transformations.translation_matrix(t1[<NUM_LIT:0>])<EOL>r1m = tf.transformations.quaternion_matrix(t1[<NUM_LIT:1>])<EOL>m1m = dot(t1m, r1m)<EOL>t2m = tf.transformations.translation_matrix(t2[<NUM_LIT:0>])<EOL>r2m = tf.transformations.quaternion_matrix(t2[<NUM_LIT:1>])<EOL>m2m = dot(t2m, r2m)<EOL>rm = dot(m1m, m2m)<EOL>rt = tf.transformations.translation_from_matrix(rm)<EOL>rr = tf.transformations.quaternion_from_matrix(rm)<EOL>return [list(rt), list(rr)]<EOL><DEDENT>else:<EOL><INDENT>return dot(t1, t2)<EOL><DEDENT>
Combines two transformations together
The order is translation first, rotation then
:param t1: [[x, y, z], [x, y, z, w]] or matrix 4x4
:param t2: [[x, y, z], [x, y, z, w]] or matrix 4x4
:return: The combination t1-t2 in the form [[x, y, z], [x, y, z, w]] or matrix 4x4