This is cheating.
it's not, this is a direct and clever solution to the specified problem which would not work for other arbitrary Cody problems, hence not cheating (in my book)
Back to basics 6 - Column Vector
Find the biggest empty box
Find a subset that divides the vector into equal halves
Symmetry of vector
Sum of logarithms
Relative pose in 2D: problem 2
Relative points in 2D: problem 3
Composing relative poses in 2D: problem 2
Pose interpolation in 2D
Pose from bearing angles in 2D
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