def multiply_transform(t1, t2):
if _is_indexable(t1) and len(t1) == <NUM_LIT:2>:<EOL><INDENT>return [<EOL>list(quat_rotate(t1[<NUM_LIT:1>], t2[<NUM_LIT:0>]) + array(t1[<NUM_LIT:0>])),<EOL>list(tf.transformations.quaternion_multiply(t1[<NUM_LIT:1>], t2[<NUM_LIT:1>]))<EOL>]<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