parameters: (self, target_frame, source_frame, time, timeout=rospy.Duration(0.0))
return_statement: return self.lookup_transform_core(target_frame, source_frame, time)
docstring: Get the transform from the source frame to the target frame.
  
          :param target_frame: Name of the frame to transform into.
          :param source_frame: Name of the input frame.
          :param time: The time at which to get the transform. (0 will get the latest) 
          :param timeout: (Optional) Time to wait for the target frame to become available.
          :return: The transform between the frames.
          :rtype: :class:`geometry_msgs.msg.TransformStamped`
docstring_summary: Get the transform from the source frame to the target frame.
docstring_tokens: Get the transform from the source frame to the target frame .
function: def lookup_transform(self, target_frame, source_frame, time, timeout=rospy.Duration(0.0)):
          """
          Get the transform from the source frame to the target frame.
  
          :param target_frame: Name of the frame to transform into.
          :param source_frame: Name of the input frame.
          :param time: The time at which to get the transform. (0 will get the latest) 
          :param timeout: (Optional) Time to wait for the target frame to become available.
          :return: The transform between the frames.
          :rtype: :class:`geometry_msgs.msg.TransformStamped`
          """
  
          self.can_transform(target_frame, source_frame, time, timeout)
          return self.lookup_transform_core(target_frame, source_frame, time)
function_tokens: def lookup_transform ( self , target_frame , source_frame , time , timeout = rospy . Duration ( 0.0 ) ) : self . can_transform ( target_frame , source_frame , time , timeout ) return self . lookup_transform_core ( target_frame , source_frame , time )