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?
All your base are belong to us
Back to basics 3 - Temp Directory
Back to basics 20 - singleton dimensions
Back to basics 25 - Valid variable names
Put Two 1D matrices into one 1D matrix
Relative pose in 2D: problem 1
Invert a 3D rigid-body transformation
Determine roll pitch yaw angles from a 3D rotation matrix
Invert a 3D rotation matrix
Relative points in 2D: problem 3
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