function A = Transformacao_inversa(M)
A=zeros(4,4);
A(1:3,1:3)=M(1:3,1:3)';
A(4,:)=[0 0 0 1];
A(1:3,4)=[dot(-M(1:3,4),M(1:3,1)) dot(-M(1:3,4),M(1:3,2)) dot(-M(1:3,4),M(1:3,3))];
end