Should specify whether the bearing is supposed to be in radians or degrees (FYI, it's radians).
Also, in the 3rd paragraph the word "displacement" is in there twice. Minor typo :)
Remove the air bubbles
Distance walked 3D
Formatting currency numbers
Relative pose in 2D: problem 1
Twists in 2D
Determine roll pitch yaw angles from a 3D rotation matrix
Composing relative poses in 2D: problem 1
Invert a 3D rotation matrix
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