def invH(matrix):
    """Returns the inverse of a homogeneous matrix

    :param matrix: pose
    :type matrix: :class:`.Mat`

    .. seealso:: :func:`~robodk.transl`, :func:`~robodk.rotx`, :func:`~robodk.roty`, :func:`~robodk.rotz`
    """
    return matrix.invH()