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* fix(mathlib): rename euler312YawTest to match tested function The test calls getEuler321Yaw() but was named euler312YawTest. Fixes #22103 * test(mathlib): add unit test for getEuler312Yaw The existing test was named euler312YawTest but actually tested getEuler321Yaw. Rename it and add a proper test for getEuler312Yaw that verifies the quaternion and DCM overloads agree, and that 312 and 321 yaw match for a pure-yaw rotation. Fixes #22103