class_docstr: Base class to represent the Se2 group.
  
  The SE(2) is the group of rigid body transformations about the origin of two-dimensional Euclidean
  space :math:`R^2` under the operation of composition.
  See more:
  
  Example:
      >>> so2 = So2.identity(1)
      >>> t = torch.ones((1, 2))
      >>> se2 = Se2(so2, t)
      >>> se2
      rotation: Parameter containing:
      tensor([1.+0.j], requires_grad=True)
      translation: Parameter containing:
      tensor([[1., 1.]], requires_grad=True)
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docstr: Converts elements from vector space to lie algebra. Returns matrix of shape :math:`(B, 3, 3)`.
  
  Args:
      v: vector of shape:math:`(B, 3)`.
  
  Example:
      >>> theta = torch.tensor(3.1415/2)
      >>> So2.hat(theta)
      tensor([[0.0000, 1.5707],
              [1.5707, 0.0000]])
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code: def hat(v: Tensor) -> Tensor:
      """Converts elements from vector space to lie algebra. Returns matrix of shape :math:`(B, 3, 3)`.
  
      Args:
          v: vector of shape:math:`(B, 3)`.
  
      Example:
          >>> theta = torch.tensor(3.1415/2)
          >>> So2.hat(theta)
          tensor([[0.0000, 1.5707],
                  [1.5707, 0.0000]])
      """
      # TODO change to KORNIA_CHECK_SHAPE once there is multiple shape support
      check_v_shape(v)
      upsilon = stack((v[..., 0], v[..., 1]), -1)
      theta = v[..., 2]
      col0 = concatenate((So2.hat(theta), upsilon.unsqueeze(-2)), -2)
      return pad(col0, (0, 1))
  
imports: from __future__ import annotations
  from typing import Optional, overload
  from kornia.core import Device, Dtype, Module, Parameter, Tensor, concatenate, pad, rand, stack, tensor, where, zeros_like
  from kornia.core.check import KORNIA_CHECK, KORNIA_CHECK_SAME_DEVICES, KORNIA_CHECK_TYPE
  from kornia.geometry.liegroup._utils import check_se2_omega_shape, check_se2_t_shape, check_v_shape
  from kornia.geometry.liegroup.so2 import So2
  from kornia.geometry.vector import Vector2
label_desc: Use image node_id 15 for calling the Se2 obj's underlying member method code with example usage: obj.hat(v) and returns: pad