def adjoint(self) -> Tensor:
        """Return the adjoint matrix of shape :math:`(B, 3, 3)`.

        Example:
            >>> s = Se2.identity()
            >>> s.adjoint()
            tensor([[1., -0., 0.],
                    [0., 1., -0.],
                    [0., 0., 1.]], grad_fn=<CopySlices>)

        """
        rt = self.matrix()
        rt[..., 0:2, 2] = stack((self.t.data[..., 1], -self.t.data[..., 0]), -1)
        return rt
Return the adjoint matrix of shape :math:`(B, 3, 3)`.

        Example:
            >>> s = Se2.identity()
            >>> s.adjoint()
            tensor([[1., -0., 0.],
                    [0., 1., -0.],
                    [0., 0., 1.]], grad_fn=<CopySlices>)

        
kornia/geometry/liegroup/se2.py