2D Rotation Generator
RotMatrixGenerator2
example
julia> m = rand(2,2)
2×2 Matrix{Float64}: 0.835014 0.733216 0.383289 0.0480701
julia> s = RotMatrixGenerator{2}(m - m')
2×2 RotMatrixGenerator2{Float64} with indices SOneTo(2)×SOneTo(2): 0.0 0.349927 -0.349927 0.0
julia> exp(s)
2×2 RotMatrix2{Float64} with indices SOneTo(2)×SOneTo(2): 0.939398 0.342829 -0.342829 0.939398
julia> log(exp(s))
2×2 RotMatrixGenerator2{Float64} with indices SOneTo(2)×SOneTo(2): 0.0 0.349927 -0.349927 0.0
Angle2dGenerator
example
julia> s = Angle2dGenerator(0.42)
2×2 Angle2dGenerator{Float64} with indices SOneTo(2)×SOneTo(2)(0.42): 0.0 -0.42 0.42 0.0
julia> exp(s)
2×2 Angle2d{Float64} with indices SOneTo(2)×SOneTo(2)(0.42): 0.913089 -0.40776 0.40776 0.913089
julia> log(exp(s))
2×2 Angle2dGenerator{Float64} with indices SOneTo(2)×SOneTo(2)(0.42): 0.0 -0.42 0.42 0.0
julia> rotation_angle(exp(s))
0.42
julia> rotation_angle(exp(2s))
0.84
julia> rotation_angle(exp(2s)) / rotation_angle(exp(s))
2.0