angular ui router 404 without redirect

example.js

angular.module("app.example", ["ui.router"])
.config(function($stateProvider, $urlRouterProvider) {
  
  $stateProvider.state("404", {
        templateUrl: "errors/notfound.tpl.html",
        data: {
            authorizationRequired: false,
            permissionsRequired: [],
            bodyClass: "error"
        }
    });
    
    // show a not found error if route is unkown, but keep the original url
    $urlRouterProvider.otherwise(function($injector) {
      $injector.invoke(function($state) {
          $state.transitionTo("404", {}, false);
      });
    });
});