how to find an inverted transformation of a frame

edit

Hi

let's say I have a transformation "map->odom" in the topic /TF as the following example, how do I calculate an inverse transformation of odom -> map, mathematically speaking. What is the pose of the map frame in the odom frame?

 transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 248
        nsecs: 135000000
      frame_id: "map"
    child_frame_id: "odom"
    transform: 
      translation: 
        x: -0.0035306278666
        y: -0.793366162427
        z: -4.52458409831e-05
      rotation: 
        x: -2.09344237192e-05
        y: 3.72782153808e-06
        z: 0.00294061514174
        w: 0.999995676156

thanks