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# 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,
name=None
)


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.