def inverse_m4x4_transform(mat):
inv_transform = zeros((<NUM_LIT:4>, <NUM_LIT:4>))<EOL>rot = mat[:-<NUM_LIT:1>, :-<NUM_LIT:1>].T<EOL>inv_transform[:-<NUM_LIT:1>, :-<NUM_LIT:1>] = rot<EOL>inv_transform[:-<NUM_LIT:1>, -<NUM_LIT:1>] = dot(-rot, mat[:-<NUM_LIT:1>, -<NUM_LIT:1>])<EOL>inv_transform[-<NUM_LIT:1>, -<NUM_LIT:1>] = <NUM_LIT:1><EOL>return inv_transform<EOL>
Return the inverse transformation of a m4x4 transformation
:param mat: A m4x4 transform
:return: inv_transform inverse of the tranformation