def test_expmap_axis_normalization(self):
        q = Quaternion((1, 1, 0), 2)
        e = q.to_exponential_map()

        self.assertAlmostEqual(e.x, 2 * math.sqrt(0.5), 6)
        self.assertAlmostEqual(e.y, 2 * math.sqrt(0.5), 6)
        self.assertAlmostEqual(e.z, 0)
    def test_expmap_axis_normalization(self):
        q = Quaternion((1, 1, 0), 2)
        e = q.to_exponential_map()

        self.assertAlmostEqual(e.x, 2 * math.sqrt(0.5), 6)
        self.assertAlmostEqual(e.y, 2 * math.sqrt(0.5), 6)
        self.assertAlmostEqual(e.z, 0)
    def test_to_expmap(self):
        q = Quaternion((0, 0, 1), math.radians(90))

        e = q.to_exponential_map()
        self.assertAlmostEqual(e.x, 0)
        self.assertAlmostEqual(e.y, 0)
        self.assertAlmostEqual(e.z, math.radians(90), 6)
    def test_to_expmap(self):
        q = Quaternion((0, 0, 1), math.radians(90))

        e = q.to_exponential_map()
        self.assertAlmostEqual(e.x, 0)
        self.assertAlmostEqual(e.y, 0)
        self.assertAlmostEqual(e.z, math.radians(90), 6)