class_docstr: Class for modeling a non-linear 2D localization problem.
  
  The state is composed of a planar orientation and position, and is thus a
  member of SE(2).
  A sensor provides the linear and angular speed, while another one provides
  sparse position observations.
docstr: Bring back angle theta in ]-pi, pi].
docstr_tok: ["Bring","back","angle","theta","in","]","-pi",",","pi","]","."]
code: def regularize_angle(self, theta):
      """Bring back angle theta in ]-pi, pi]."""
      if gs.ndim(gs.array(theta)) < 1:
          theta = gs.array([theta])
      return self.group.rotations.log_from_identity(theta)
  
imports: import geomstats.backend
  from geomstats.geometry.euclidean import Euclidean
  from geomstats.geometry.matrices import Matrices
  from geomstats.geometry.special_euclidean import SpecialEuclidean
label_desc: Use image node_id 4 for calling the Localization obj's underlying member method code with example usage: obj.regularize_angle(theta) and returns: self