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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 dot(self, other_tf):
 """Compose this simliarity transform with another. This transform is on the left-hand side of the composition. Parameters other_tf : :obj:`SimilarityTransform` The other SimilarityTransform to compose with this one. Returns ------- :obj:`SimilarityTransform` A SimilarityTransform that represents the composition. Raises ------ ValueError If the to_frame of other_tf is not identical to this transform's from_frame. """

        if other_tf.to_frame != self.from_frame:
            raise ValueError('To frame of right hand side ({0}) must match from frame of left hand side ({1})'.format(other_tf.to_frame, self.from_frame))
        if not isinstance(other_tf, RigidTransform):
            raise ValueError('Can only compose with other RigidTransform classes')

        other_scale = 1.0
        if isinstance(other_tf, SimilarityTransform):
            other_scale = other_tf.scale

        rotation = self.rotation.dot(other_tf.rotation)
        translation = self.translation + self.scale * self.rotation.dot(other_tf.translation)
        scale = self.scale * other_scale
        return SimilarityTransform(rotation, translation, scale,
                                   from_frame=other_tf.from_frame,
                                   to_frame=self.to_frame)