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Converts an angle to a 2d rotation matrix under the small angle assumption.
tfg.geometry.transformation.rotation_matrix_2d.from_euler_with_small_angles_approximation(
angles, name=None
)
Under the small angle assumption,
and
can be approximated by their second order Taylor expansions, where
and
. The 2d rotation matrix will then be approximated as
In the current implementation, the smallness of the angles is not verified.
Note:
The resulting matrix rotates points in the
-plane counterclockwise.
Note:
In the following, A1 to An are optional batch dimensions.
Args | |
---|---|
angles
|
A tensor of shape [A1, ..., An, 1] , where the last dimension
represents a small angle in radians.
|
name
|
A name for this op that defaults to "rotation_matrix_2d_from_euler_with_small_angles_approximation". |
Returns | |
---|---|
A tensor of shape [A1, ..., An, 2, 2] , where the last dimension represents
a 2d rotation matrix.
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Raises | |
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ValueError
|
If the shape of angle is not supported.
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