You should think about having an input variable rather than describing it as only -90 degrees in the description.
Easy to do, what's your reasoning?
High school cafeteria
pressure to dB?
Snakes on a plane
Create a 3D rotation matrix from roll-pitch-yaw angles
Relative pose in 2D: problem 2
Relative points in 2D: problem 3
Composing relative poses in 2D: problem 1
Pose from bearing angles in 2D
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