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 :)
Return the largest number that is adjacent to a zero
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Convert from Fahrenheit to Celsius
Create a 3D rotation matrix
Determine roll pitch yaw angles from a 3D rotation matrix
Relative points in 2D: problem 2
Orientation of a 3D coordinate frame
Homogeneous lines and points in 2D: problem 1
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