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?
Remove the air bubbles
Matrix indexing with two vectors of indices
Add two numbers
Convert given decimal number to binary number.
Make roundn function
Pose from bearing angles in 2D
Determine roll pitch yaw angles from a 3D rotation matrix
Create a 3D rotation matrix from roll-pitch-yaw angles
Composing relative poses in 2D: problem 2
Relative pose in 2D: problem 2
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