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 :)
Test for balanced parentheses
Get the length of a given vector
Multiply 2 numbers
Operate on matrices of unequal, yet similar, size
Relative pose in 2D: problem 2
Determine roll pitch yaw angles from a 3D rotation matrix
Create a 3D rotation matrix from roll-pitch-yaw angles
Homogeneous lines and points in 2D: problem 1
Composing relative poses in 2D: problem 1
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