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Solve the following problem using Python, implementing the functions described below, one line at a time
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Description:
 def _to_parent_frame(self, *args, **kwargs):
 """Conversion from Topocentric Frame to parent frame """

        lat, lon, _ = self.latlonalt
        m = rot3(-lon) @ rot2(lat - np.pi / 2.) @ rot3(self.heading)
        offset = np.zeros(6)
        offset[:3] = self.coordinates
        return self._convert(m, m), offset