parameters: (T1,T2)
return_statement: return (R,t)
docstring: Composes two transformations.
docstring_summary: Composes two transformations.
docstring_tokens: Composes two transformations .
function: def mul(T1,T2):
      """Composes two transformations."""
      (R1,t1) = T1
      (R2,t2) = T2
      R = so3.mul(R1,R2)
      t = vectorops.add(so3.apply(R1,t2),t1)
      return (R,t)
function_tokens: def mul ( T1 , T2 ) : ( R1 , t1 ) = T1 ( R2 , t2 ) = T2 R = so3 . mul ( R1 , R2 ) t = vectorops . add ( so3 . apply ( R1 , t2 ) , t1 ) return ( R , t )