Great Circle Distance
Geometry: Find Circle given 3 Non-Colinear Points
Matrix multiplication across rows
Create a matrix map of increasing safety levels
Invert a 3D rotation matrix
Create a 3D rotation matrix from roll-pitch-yaw angles
Invert a 3D rigid-body transformation
Homogeneous lines and points in 2D: problem 1
Relative points in 2D: problem 3
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