Compute a dot product of two vectors x and y
Given a 4x4 matrix, swap the two middle columns
Do Fast Fourier Transformation
Composing relative poses in 2D: problem 2
Invert a 3D rotation matrix
Determine roll pitch yaw angles from a 3D rotation matrix
Relative points in 2D: problem 3
Relative pose in 2D: problem 2
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