def METHOD_NAME(msg):
    """
    Convert a PointStamped message to a stamped PyKDL Vector.
    :param msg: The PointStamped message to convert.
    :type msg: geometry_msgs.msg.PointStamped
    :return: The timestamped converted PyKDL vector.
    :rtype: PyKDL.Vector
    """
    vector = PyKDL.Vector(msg.point.x, msg.point.y, msg.point.z)
    return tf2_ros.Stamped(vector, msg.header.stamp, msg.header.frame_id)