You should think about having an input variable rather than describing it as only -90 degrees in the description.
Easy to do, what's your reasoning?
Reverse the vector
Is A the inverse of B?
Weave two vectors into one
Predicting life and death of a memory-less light bulb
Homogeneous lines and points in 2D: problem 1
Invert a 3D rotation matrix
Relative points in 2D: problem 3
Orientation of a 3D coordinate frame
Pose from bearing angles in 2D
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