Should specify whether the bearing is supposed to be in radians or degrees (FYI, it's radians).
Also, in the 3rd paragraph the word "displacement" is in there twice. Minor typo :)
Back to basics 6 - Column Vector
How to subtract?
Generate a vector like 1,2,2,3,3,3,4,4,4,4
Create a 3D rotation matrix from roll-pitch-yaw angles
Pose from bearing angles in 2D
Relative pose in 2D: problem 1
Determine roll pitch yaw angles from a 3D rotation matrix
Orientation of a 3D coordinate frame
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