Is there a standard way to transform a pose between coordinate frames?

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I have a pose message that I want to transform between two (non-static) coordinate frames. Currently I am doing the following in python:

   def rotate_orientation(ori, q):
    rot_mat = tf.transformations.quaternion_matrix(q)
    pose_rot = rot_mat.dot([ori.x, ori.y, ori.z, ori.w])
    ori.x = pose_rot[0]
    ori.y = pose_rot[1]
    ori.z = pose_rot[2]
    ori.w = pose_rot[3]

  def translate_position(pos, t):
    pos.x += t[0]
    pos.y += t[1]
    pos.z += t[2]

  def odom_to_utm(odom):
    global utm_pub

    trans,rot = listener.lookupTransform('utm', 'odom', rospy.Time(0))

    translate_position(odom.pose.pose.position, trans)
    rotate_orientation(odom.pose.pose.orientation, rot)

    utm_pub.publish(utm)

But it feels a bit clunky. Is there a more standard way to switch between coordinates frames? Something like a tf.transformPose(pose, frame1, frame2) that returns pose in frame 2.