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 :)
Remove any row in which a NaN appears
radius of a spherical planet
Find the next prime number
Create a 3D rotation matrix
Relative pose in 2D: problem 1
Composing relative poses in 2D: problem 1
Relative points in 2D: problem 1
Relative points in 2D: problem 3
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