parameters: (self, target_frame, ps)
return_statement: return r
docstring: :param target_frame: the tf target frame, a string
          :param ps: the geometry_msgs.msg.PointStamped message
          :return: new geometry_msgs.msg.PointStamped message, in frame target_frame
          :raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise
  
          Transforms a geometry_msgs PointStamped message to frame target_frame, returns a new PointStamped message.
docstring_summary: :param target_frame: the tf target frame, a string
          :param ps: the geometry_msgs.msg.PointStamped message
          :return: new geometry_msgs.msg.PointStamped message, in frame target_frame
          :raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise
docstring_tokens: : param target_frame : the tf target frame a string : param ps : the geometry_msgs . msg . PointStamped message : return : new geometry_msgs . msg . PointStamped message in frame target_frame : raises : any of the exceptions that : meth : ~tf . Transformer . lookupTransform can raise
function: def transformPoint(self, target_frame, ps):
          """
          :param target_frame: the tf target frame, a string
          :param ps: the geometry_msgs.msg.PointStamped message
          :return: new geometry_msgs.msg.PointStamped message, in frame target_frame
          :raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise
  
          Transforms a geometry_msgs PointStamped message to frame target_frame, returns a new PointStamped message.
          """
  
          mat44 = self.asMatrix(target_frame, ps.header)
          xyz = tuple(numpy.dot(mat44, numpy.array([ps.point.x, ps.point.y, ps.point.z, 1.0])))[:3]
          r = geometry_msgs.msg.PointStamped()
          r.header.stamp = ps.header.stamp
          r.header.frame_id = target_frame
          r.point = geometry_msgs.msg.Point(*xyz)
          return r
function_tokens: def transformPoint ( self , target_frame , ps ) : mat44 = self . asMatrix ( target_frame , ps . header ) xyz = tuple ( numpy . dot ( mat44 , numpy . array ( [ ps . point . x , ps . point . y , ps . point . z , 1.0 ] ) ) ) [ : 3 ] r = geometry_msgs . msg . PointStamped ( ) r . header . stamp = ps . header . stamp r . header . frame_id = target_frame r . point = geometry_msgs . msg . Point ( * xyz ) return r