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?
Count up then down
Area of an Isoceles Triangle
Relative pose in 2D: problem 2
Invert a 3D rigid-body transformation
Composing relative poses in 2D: problem 1
Pose interpolation in 2D
Twists in 2D
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