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trans = ( x ' x ) 2 + ( y ' y ) 2

rot1 = atan2( y ' y , x ' x )


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rot1 = rot1 +

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rot 2 = rot 2 +

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1 | rot 2 |+ 2

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trans = ( x ' x ) 2 + ( y ' y ) 2


rot1 = atan2( y ' y, x ' x )
rot 2 = ' rot1
trans = ( x' x) 2 + ( y ' y ) 2
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rot1 = atan2( y' y, x' x)
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rot 2 = ' rot1
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p1 = prob( rot1 rot1 , 1 | rot1 | + 2trans )
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p2 = prob( trans trans , 3trans + 4 (| rot1 | + | rot2 |))
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u = rot1 , rot 2 , trans , x = x, y,


rot1 = rot1 + sample(1 | rot1 | + 2 trans )
trans = trans + sample( 3 trans + 4 (| rot1 | + | rot 2 |))
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