class_docstr: Base class to represent the Se2 group.
  
  The SE(2) is the group of rigid body transformations about the origin of two-dimensional Euclidean
  space :math:`R^2` under the operation of composition.
  See more:
  
  Example:
      >>> so2 = So2.identity(1)
      >>> t = torch.ones((1, 2))
      >>> se2 = Se2(so2, t)
      >>> se2
      rotation: Parameter containing:
      tensor([1.+0.j], requires_grad=True)
      translation: Parameter containing:
      tensor([[1., 1.]], requires_grad=True)
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docstr: Returns the inverse transformation.
  
  Example:
      >>> s = Se2(So2.identity(1), torch.ones(1,2))
      >>> s_inv = s.inverse()
      >>> s_inv.r
      Parameter containing:
      tensor([1.+0.j], requires_grad=True)
      >>> s_inv.t
      Parameter containing:
      tensor([[-1., -1.]], requires_grad=True)
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code: def inverse(self) -> Se2:
      """Returns the inverse transformation.
  
      Example:
          >>> s = Se2(So2.identity(1), torch.ones(1,2))
          >>> s_inv = s.inverse()
          >>> s_inv.r
          Parameter containing:
          tensor([1.+0.j], requires_grad=True)
          >>> s_inv.t
          Parameter containing:
          tensor([[-1., -1.]], requires_grad=True)
      """
      r_inv: So2 = self.r.inverse()
      _t = -1 * self.t
      if isinstance(_t, int):
          raise TypeError("Unexpected integer from `-1 * translation`")
  
      return Se2(r_inv, r_inv * _t)
  
imports: from __future__ import annotations
  from typing import Optional, overload
  from kornia.core import Device, Dtype, Module, Parameter, Tensor, concatenate, pad, rand, stack, tensor, where, zeros_like
  from kornia.core.check import KORNIA_CHECK, KORNIA_CHECK_SAME_DEVICES, KORNIA_CHECK_TYPE
  from kornia.geometry.liegroup._utils import check_se2_omega_shape, check_se2_t_shape, check_v_shape
  from kornia.geometry.liegroup.so2 import So2
  from kornia.geometry.vector import Vector2
label_desc: Use image node_id 20 for calling the Se2 obj's underlying member method code with example usage: obj.inverse() and returns: Se2