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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 inverse(self):
 """Take the inverse of the rigid transform. Returns ------- :obj:`RigidTransform` The inverse of this RigidTransform. """

        inv_rotation = self.rotation.T
        inv_translation = np.dot(-self.rotation.T, self.translation)
        return RigidTransform(inv_rotation, inv_translation,
                              from_frame=self._to_frame,
                              to_frame=self._from_frame)