This is cheating.
it's not, this is a direct and clever solution to the specified problem which would not work for other arbitrary Cody problems, hence not cheating (in my book)
Min of a Matrix
Side of an equilateral triangle
Transpose of matrix
Calculate mean value of any pair in a vector.
Pose interpolation in 2D
Determine roll pitch yaw angles from a 3D rotation matrix
Invert a 3D rotation matrix
Composing relative poses in 2D: problem 1
Pose from bearing angles in 2D
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