parameters: (self)
return_statement: return (R.row_join(self.t)).col_join(sympy.Matrix(1, 3, [0, 0, 1]))
docstring: returns matrix representation
docstring_summary: returns matrix representation
docstring_tokens: returns matrix representation
function: def matrix(self):
          """ returns matrix representation """
          R = self.so2.matrix()
          return (R.row_join(self.t)).col_join(sympy.Matrix(1, 3, [0, 0, 1]))
function_tokens: def matrix ( self ) : R = self . so2 . matrix ( ) return ( R . row_join ( self . t ) ) . col_join ( sympy . Matrix ( 1 , 3 , [ 0 , 0 , 1 ] ) )