Generate binary combinations for a given number of bit(s)
Relative ratio of "1" in binary number
Count consecutive 0's in between values of 1
Perimeter of a semicircle
Homogeneous lines and points in 2D: problem 1
Relative pose in 2D: problem 2
Composing relative poses in 2D: problem 1
Relative points in 2D: problem 2
Create a 3D rotation matrix
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