Too Many Zeros, Dump Them!
Is this triangle right-angled?
Pose from bearing angles in 2D
Calculate Amount of Cake Frosting
Invert a 3D rigid-body transformation
Create a 3D rotation matrix from roll-pitch-yaw angles
Determine roll pitch yaw angles from a 3D rotation matrix
Orientation of a 3D coordinate frame
Composing relative poses in 2D: problem 1
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