def METHOD_NAME(self):
    """Return the pose as an :math:`SE(2)` matrix.
    Returns
    -------
    np.ndarray
        The pose as an :math:`SE(2)` matrix
    """
    return np.array([[np.cos(self[2]), -np.sin(self[2]), self[0]],
                     [np.sin(self[2]), np.cos(self[2]), self[1]],
                     [0., 0., 1.]], dtype=float)