tfg.geometry.transformation.rotation_matrix_2d.from_euler

Converts an angle to a 2d rotation matrix.

tfg.geometry.transformation.rotation_matrix_2d.from_euler(
    angle: type_alias.TensorLike,
    name: str = 'rotation_matrix_2d_from_euler_angle'
) -> tf.Tensor

Converts an angle $\theta$ to a 2d rotation matrix following the equation

$$\mathbf{R} = \begin{bmatrix} \cos(\theta) & -\sin(\theta) \\ \sin(\theta) & \cos(\theta) \end{bmatrix}.$$

Note
The resulting matrix rotates points in the $xy$-plane counterclockwise.

Note
In the following, A1 to An are optional batch dimensions.

Args
angle	A tensor of shape [A1, ..., An, 1], where the last dimension represents an angle in radians.
name	A name for this op that defaults to "rotation_matrix_2d_from_euler_angle".

Returns
A tensor of shape [A1, ..., An, 2, 2], where the last dimension represents a 2d rotation matrix.

Raises
ValueError	If the shape of angle is not supported.