No tf function for applying transformations?

edit

I'm seeing this design strategy in the online course I'm doing:

translation = tf.transformations.translation_from_matrix(T)
rotation = tf.transformations.quaternion_from_matrix(T)
t.transform.translation.x = translation[0]
t.transform.translation.y = translation[1]
t.transform.translation.z = translation[2]
t.transform.rotation.x = rotation[0]
t.transform.rotation.y = rotation[1]
t.transform.rotation.z = rotation[2]
t.transform.rotation.w = rotation[3]

Is there a function for doing something like:

t.apply_translation(translation)
t.apply_rotation(rotation)

or

t.apply_transformation(translation=translation, rotation=rotation)

I think it would make for more readable code, and be faster to write. If there is a function like that, what is it? If not, why not?

Thanks! TT