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Update frame-independent yaw speed calculation code. #1372

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Update frame-independent yaw speed calculation code.

Update frame-independent yaw speed calculation code. #1372

Run time

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Job Run time
build (ubuntu-latest, gcc, g++)
58s
build (ubuntu-latest, clang, clang++)
47s
build (windows-2019, cl, cl)
52s
2m 37s