def inverse(self):
        """Returns a new Pose that corresponds to the
        inverse of this one.

        Returns
        ----------
        result: Pose
            Inverted pose
        """
        qinv = self.quat.inverse
        return self.__class__(qinv, qinv.rotate(-self.tvec))
Returns a new Pose that corresponds to the
        inverse of this one.

        Returns
        ----------
        result: Pose
            Inverted pose
        
tridet/structures/pose.py