def METHOD_NAME(self, from_frame, to_frame, time):
    """Request a transformation at a given time.
    Parameters
    ----------
    from_frame : Hashable
        Name of the frame for which the transformation is requested in the
        to_frame coordinate system
    to_frame : Hashable
        Name of the frame in which the transformation is defined
    time : float
        Time at which we request the transformation.
    Returns
    -------
    A2B : array, shape (4, 4)
        Transformation from 'from_frame' to 'to_frame'
    Raises
    ------
    KeyError
        If one of the frames is unknown or there is no connection between
        them
    """
    previous_time = self.current_time
    self.current_time = time
    A2B = self.get_transform(from_frame, to_frame)
    # revert internal state
    self.current_time = previous_time
    return A2B