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?
Angle between two vectors
How to add?
Determine if input is a perfect number
Infinite precision division
Maximum value in a matrix
Twists in 2D
Create a 3D rotation matrix from roll-pitch-yaw angles
Composing relative poses in 2D: problem 1
Invert a 3D rotation matrix
Composing relative poses in 2D: problem 2
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