How to convert global to local coordinates in blender

gtl.py

from mathutils import Matrix
from mathutils import Vector
from mathutils import Quaternion
import bpy

print('start')



rVector = Vector((0.0, 0.0, 0.0))
rquat = Quaternion((0.707,0.707,0,0)).to_matrix().to_4x4()

mw = bpy.data.armatures['Armature'].bones['Bone'].matrix.copy()
hymat = Quaternion((0.707,-0.707,0,0)).inverted().to_matrix().to_4x4() 
mat = Matrix.Translation(rVector)  * rquat  * mw.to_4x4() 
bpy.context.object.pose.bones['Bone'].matrix = mat



squat = Quaternion((1.0,0,0,0)).to_matrix().to_4x4()
globalVector = Vector((0.0, 0.0, 1.0))  

mw = bpy.data.armatures['Armature'].bones['Bone.001'].matrix.copy()
hymat = Quaternion((0.707,-0.707,0,0)).inverted().to_matrix().to_4x4() 
mat = Matrix.Translation(globalVector) * squat * hymat * mw.to_4x4() 
bpy.context.object.pose.bones['Bone.001'].matrix = mat


mw = bpy.data.armatures['Armature'].bones['Bone.002'].matrix.copy()
hymat = Quaternion((0.707,-0.707,0,0)).inverted().to_matrix().to_4x4() 
mat = Matrix.Translation(globalVector)  * squat * hymat * mw.to_4x4() 
bpy.context.object.pose.bones['Bone.002'].matrix = mat


print('end')

http://stackoverflow.com/questions/7132018/how-to-convert-global-to-local-coordinates-in-blender-2-5