def exp(v: Tensor) -> Se2:
        """Convert elements of lie algebra to elements of lie group.

        Args:
            v: vector of shape :math:`(B, 3)`.

        Example:
            >>> v = torch.ones((1, 3))
            >>> s = Se2.exp(v)
            >>> s.r
            Parameter containing:
            tensor([0.5403+0.8415j], requires_grad=True)
            >>> s.t
            Parameter containing:
            tensor([[0.3818, 1.3012]], requires_grad=True)

        """
        check_v_shape(v)
        theta = v[..., 2]
        so2 = So2.exp(theta)
        z = tensor(0.0, device=v.device, dtype=v.dtype)
        theta_nonzeros = theta != 0.0
        a = where(theta_nonzeros, so2.z.imag / theta, z)
        b = where(theta_nonzeros, (1.0 - so2.z.real) / theta, z)
        x = v[..., 0]
        y = v[..., 1]
        t = stack((a * x - b * y, b * x + a * y), -1)
        return Se2(so2, t)
Convert elements of lie algebra to elements of lie group.

        Args:
            v: vector of shape :math:`(B, 3)`.

        Example:
            >>> v = torch.ones((1, 3))
            >>> s = Se2.exp(v)
            >>> s.r
            Parameter containing:
            tensor([0.5403+0.8415j], requires_grad=True)
            >>> s.t
            Parameter containing:
            tensor([[0.3818, 1.3012]], requires_grad=True)

        
kornia/geometry/liegroup/se2.py