tfg.geometry.transformation.rotation_matrix_3d.from_euler_with_small_angles_approximation

Convert an Euler angle representation to a rotation matrix.

tfg.geometry.transformation.rotation_matrix_3d.from_euler_with_small_angles_approximation(
    angles, name=None
)

The resulting matrix is

$$\mathbf{R} = \mathbf{R}_z\mathbf{R}_y\mathbf{R}_x$$

. Under the small angle assumption,

$$\sin(x)$$

and

$$\cos(x)$$

can be approximated by their second order Taylor expansions, where

$$\sin(x) \approx x$$

and

$$\cos(x) \approx 1 - \frac{x^2}{2}$$

. In the current implementation, the smallness of the angles is not verified.

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

Args
`angles`	A tensor of shape `[A1, ..., An, 3]`, where the last dimension represents the three small Euler angles. `[A1, ..., An, 0]` is the angle about `x` in radians, `[A1, ..., An, 1]` is the angle about `y` in radians and `[A1, ..., An, 2]` is the angle about `z` in radians.
`name`	A name for this op that defaults to "rotation_matrix_3d_from_euler".

Returns
A tensor of shape `[A1, ..., An, 3, 3]`, where the last two dimensions represent a 3d rotation matrix.

Raises
`ValueError`	If the shape of `angles` is not supported.

Args