def test_body_diff():
qs = Quaternion.zero(100)
qs = qs.body_rotate(Point.X(1, 100) * np.linspace(0, np.pi, 100))
dt = np.ones(100)
dq = qs.body_diff(dt)
np.testing.assert_array_almost_equal(dq.data,
Point.X(np.pi / 100, 100).data)
def test_X():
assert Point.X(1,100) + Point.Y(1,100) + Point.Z(1,100) == Point(np.ones((100,3)))
