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Update frame-independent yaw speed calculation code. #1376

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Update frame-independent yaw speed calculation code.

Update frame-independent yaw speed calculation code. #1376

Run time

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Job Run time
build (ubuntu-latest, gcc, g++)
2m 8s
build (ubuntu-latest, clang, clang++)
1m 24s
build (windows-2019, cl, cl)
2m 50s
6m 22s