def to_transformation_matrix(translation, orientation_matrix=np.zeros((<NUM_LIT:3>, <NUM_LIT:3>))):
matrix = np.eye(<NUM_LIT:4>)<EOL>matrix[:-<NUM_LIT:1>, :-<NUM_LIT:1>] = orientation_matrix<EOL>matrix[:-<NUM_LIT:1>, -<NUM_LIT:1>] = translation<EOL>return matrix<EOL>
Converts a tuple (translation_vector, orientation_matrix)  to a transformation matrix

    Parameters
    ----------
    translation: numpy.array
        The translation of your frame presented as a 3D vector.
    orientation_matrix: numpy.array
        Optional : The orientation of your frame, presented as a 3x3 matrix.