def inverse(self) -> Se3:
        """Return the inverse transformation.

        Example:
            >>> s = Se3(So3.identity(), torch.ones(3))
            >>> s_inv = s.inverse()
            >>> s_inv.r
            Parameter containing:
            tensor([1., -0., -0., -0.], requires_grad=True)
            >>> s_inv.t
            Parameter containing:
            tensor([-1., -1., -1.], requires_grad=True)

        """
        r_inv = self.r.inverse()
        _t = -1 * self.t
        if isinstance(_t, int):
            raise TypeError("Unexpected integer from `-1 * translation`")

        return Se3(r_inv, r_inv * _t)
Return the inverse transformation.

        Example:
            >>> s = Se3(So3.identity(), torch.ones(3))
            >>> s_inv = s.inverse()
            >>> s_inv.r
            Parameter containing:
            tensor([1., -0., -0., -0.], requires_grad=True)
            >>> s_inv.t
            Parameter containing:
            tensor([-1., -1., -1.], requires_grad=True)

        
kornia/geometry/liegroup/se3.py