maya space switch transformation matrix

spaceSwitch.py

def switchDriver(node, index):
    spaceA = node.getParent()
    spaceB = getDriver(index)
    deltaMatrix = getSpaceSwitch(spaceA, spaceB)
    # change driver
    node.driver.set(index)
    node.translateSpace.set(deltaMatrix.getTranslation('world'))
    newRot = deltaMatrix.getRotation()
    newRot.setDisplayUnit('degrees')
    node.rotateSpace.set(dt.Vector(newRot[0], newRot[1], newRot[2]))
    node.scaleSpace.set(deltaMatrix.getScale('world'))
    
def getSpaceSwitch(spaceA, spaceB):
    oldMatrix = getWorldMatrix(spaceA)
    newMatrix = getWorldMatrix(spaceB)
    return dt.TransformationMatrix(oldMatrix * newMatrix.inverse())

def getWorldMatrix(node):
    if node is not None:
        return node.worldMatrix.get()
    else:
        return dt.Matrix()

def getDriver(index):
    if index == 1:
        return ls('pCube2')[0]
    elif index == 2:
        return ls('pCube3')[0]