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 :)
Find the sum of the elements in the "second" diagonal
Find mistyped words in text (mixed-up letters)
Generate a random matrix A of (1,-1)
Find last zero for each column
Relative pose in 2D: problem 1
Relative pose in 2D: problem 2
Invert a 3D rotation matrix
Determine roll pitch yaw angles from a 3D rotation matrix
Invert a 3D rigid-body transformation
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