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)
Find the hypotenuse
Dimensions of a rectangle
Rotate Matrix @180 degree
Sum of a geometric series
Relative points in 2D: problem 1
Create a 3D rotation matrix from roll-pitch-yaw angles
Composing relative poses in 2D: problem 1
Homogeneous lines and points in 2D: problem 1
Pose interpolation in 2D
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