Python: implemented InverseRotation function. Cleaned up trailing whitespace.

Also added missing check in Python apsis test where
I did not verify that each apsis kind was correct.

source/python/README.md

@@ -780,6 +780,23 @@ This will be less than or equal to zero.
 
 ---
 
+<a name="InverseRotation"></a>
+### InverseRotation(rotation)
+
+**Calculates the inverse of a rotation matrix.**
+
+Given a rotation matrix that performs some coordinate transform,
+this function returns the matrix that reverses that trasnform.
+
+| Type | Parameter | Description |
+| --- | --- | --- |
+| [`RotationMatrix`](#RotationMatrix) | `rotation` | The rotation matrix to be inverted. |
+
+### Returns: RotationMatrix
+The inverse rotation matrix.
+
+---
+
 <a name="LongitudeFromSun"></a>
 ### LongitudeFromSun(body, time)
 

source/python/astronomy.py

@@ -5083,6 +5083,28 @@ def NextLunarApsis(apsis):
         raise InternalError()
     return next
 
+def InverseRotation(rotation):
+    """Calculates the inverse of a rotation matrix.
+
+    Given a rotation matrix that performs some coordinate transform,
+    this function returns the matrix that reverses that trasnform.
+
+    Parameters
+    ----------
+    rotation : RotationMatrix
+        The rotation matrix to be inverted.
+
+    Returns
+    -------
+    RotationMatrix
+        The inverse rotation matrix.
+    """
+    return RotationMatrix([
+        [rotation.rot[0][0], rotation.rot[1][0], rotation.rot[2][0]],
+        [rotation.rot[0][1], rotation.rot[1][1], rotation.rot[2][1]],
+        [rotation.rot[0][2], rotation.rot[1][2], rotation.rot[2][2]]
+    ])
+
 def RotateVector(rotation, vector):
     """Applies a rotation to a vector, yielding a rotated vector.
 
@@ -5123,8 +5145,8 @@ def Rotation_EQJ_ECL():
         A rotation matrix that converts EQJ to ECL.
     """
     # ob = mean obliquity of the J2000 ecliptic = 0.40909260059599012 radians.
-    c = 0.9174821430670688;    # cos(ob)
-    s = 0.3977769691083922;    # sin(ob)
+    c = 0.9174821430670688    # cos(ob)
+    s = 0.3977769691083922    # sin(ob)
     return RotationMatrix([
         [ 1,  0,  0],
         [ 0, +c, -s],