def METHOD_NAME(v):
  """Returns an orthogonal vector to v
  v -- geometry_msgs Vector3 or Point
  returns the orthogonal vector of v
  """
  normalized = normalize(v)
  t = type(v)
  x = abs(normalized.x)
  y = abs(normalized.y)
  z = abs(normalized.z)
  basis = None
  if x < y:
    basis = t(1, 0, 0) if x < z else t(0, 0, 1)
  else:
    basis = t(0, 1, 0) if y < z else t(0, 0, 1)
  return cross(normalized, basis)