Matrix with different incremental runs
Sum of diagonal of a square matrix
Scoring for oriented dominoes
Change the first and last diagonal element of the identity matrix to zero
multiply by three
Invert a 3D rotation matrix
Pose from bearing angles in 2D
Relative points in 2D: problem 3
Relative points in 2D: problem 2
Composing relative poses in 2D: problem 2
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