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