Python for Maya - Get object's transform matrix relative to other object's transform

maya_get_mtx_relative_to_other_object.py

from maya.api.OpenMaya import MVector, MMatrix, MPoint
import maya.cmds as cmds

def get_relative_transform (node,coordinate_space_node):
    node_matrix = MMatrix(cmds.xform(node, q=True, matrix=True, ws=True))
    parent_matrix = MMatrix(cmds.xform(coordinate_space_node, q=True, matrix=True, ws=True))
    return (node_matrix * parent_matrix.inverse())

node_a = (cmds.ls(sl=1,sn=True))[0]
node_b = (cmds.ls(sl=1,sn=True))[1]

print (get_relative_transform(node_a,node_b))