How to subtract?
Generate a vector like 1,2,2,3,3,3,4,4,4,4
Put m balls into n boxes (again)
Dimensions of a rectangle
Relative pose in 2D: problem 1
Pose from bearing angles in 2D
Pose interpolation in 2D
Relative points in 2D: problem 2
Homogeneous lines and points in 2D: problem 1
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