The Issue above on `tf` module: Transformation function

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Hello, I'm using ROS kinetic on Ubuntu 16.04.

I've had a simple question about tf module.

Does tf module have the function which can transform a coordinate of the specific object from Local Frame A into Local Frame B?

For example, is there another way to transform the coordinate from local sensor frame into Global frame except for calculating with a definition of custom function wrt coordinate transformation?

I've calculated them by myself so far, but I suddenly thought of whether there would be that kind of convenient function.

Thanks in advance. :)