Column norms of a matrix
Find the largest value in the 3D matrix
Volume of a Parallelepiped
Convert a structure into a string
Generate N equally spaced intervals between -L and L
Create a 3D rotation matrix from roll-pitch-yaw angles
Relative points in 2D: problem 2
Invert a 3D rotation matrix
Composing relative poses in 2D: problem 1
Relative points in 2D: problem 1
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