diff --git a/.coverage b/.coverage
index 6daa94d7bd4f397b3b63330b1f189a132b36f37d..2606528c36bb3680a97e43a9d9e2d414ae0760fe 100644
--- a/.coverage
+++ b/.coverage
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             <a class="nav" href="index.html">&#xab; index</a> &nbsp; &nbsp; <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.1</a>,
-            created at 2019-01-25 11:58
+            created at 2019-01-27 14:10
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diff --git a/coverage_html_report/navipy_comparing___init___py.html b/coverage_html_report/navipy_comparing___init___py.html
index 7c589948185bea1530674444ad7daa7a98d12fbb..36665f0988f94aea2c60515812f03a5da8d14be5 100644
--- a/coverage_html_report/navipy_comparing___init___py.html
+++ b/coverage_html_report/navipy_comparing___init___py.html
@@ -476,7 +476,7 @@
     <div class="content">
         <p>
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-            created at 2019-01-26 17:27
+            created at 2019-01-28 13:19
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diff --git a/coverage_html_report/navipy_comparing_test_py.html b/coverage_html_report/navipy_comparing_test_py.html
index efd946f90e52a7de32e2babe52e8ff824e7183e0..4480b18574568e9833d35560e1860690258647e7 100644
--- a/coverage_html_report/navipy_comparing_test_py.html
+++ b/coverage_html_report/navipy_comparing_test_py.html
@@ -714,7 +714,7 @@
     <div class="content">
         <p>
             <a class="nav" href="index.html">&#xab; index</a> &nbsp; &nbsp; <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.1</a>,
-            created at 2019-01-26 17:27
+            created at 2019-01-28 13:19
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diff --git a/coverage_html_report/navipy_database___init___py.html b/coverage_html_report/navipy_database___init___py.html
index d8adc8c35ce30792b3e01f7767dde08bb2289d91..0a512a98070e94b57b5d9b8859fa700cd1cf08d7 100644
--- a/coverage_html_report/navipy_database___init___py.html
+++ b/coverage_html_report/navipy_database___init___py.html
@@ -1984,7 +1984,7 @@
     <div class="content">
         <p>
             <a class="nav" href="index.html">&#xab; index</a> &nbsp; &nbsp; <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.1</a>,
-            created at 2019-01-26 17:27
+            created at 2019-01-28 13:19
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diff --git a/coverage_html_report/navipy_database_test_py.html b/coverage_html_report/navipy_database_test_py.html
index 97285fdf52b0a0a702355c93251ccbd7d7d4edfb..a79861dd42fe15aabb587858ef5cfbf8e7ba6bda 100644
--- a/coverage_html_report/navipy_database_test_py.html
+++ b/coverage_html_report/navipy_database_test_py.html
@@ -934,7 +934,7 @@
     <div class="content">
         <p>
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-            created at 2019-01-26 17:27
+            created at 2019-01-28 13:19
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diff --git a/coverage_html_report/navipy_database_tools_py.html b/coverage_html_report/navipy_database_tools_py.html
index e9d92b3cade23e2ab96c7d5342db36e004d092cb..5ca4bcd6c738ff2e04caea248f63e27b3f377d93 100644
--- a/coverage_html_report/navipy_database_tools_py.html
+++ b/coverage_html_report/navipy_database_tools_py.html
@@ -122,7 +122,7 @@
     <div class="content">
         <p>
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-            created at 2019-01-25 11:58
+            created at 2019-01-27 14:10
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diff --git a/coverage_html_report/navipy_errorprop___init___py.html b/coverage_html_report/navipy_errorprop___init___py.html
index deb4413477b8b390eaad1ba8b6aede1e595c01dd..bc2674823d55719c6ee12e8e4d4ba8c347ca6360 100644
--- a/coverage_html_report/navipy_errorprop___init___py.html
+++ b/coverage_html_report/navipy_errorprop___init___py.html
@@ -252,7 +252,7 @@
     <div class="content">
         <p>
             <a class="nav" href="index.html">&#xab; index</a> &nbsp; &nbsp; <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.1</a>,
-            created at 2019-01-26 17:27
+            created at 2019-01-28 13:19
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diff --git a/coverage_html_report/navipy_errorprop_test_py.html b/coverage_html_report/navipy_errorprop_test_py.html
index 2dfe2a75afecad89218f71b3839ca955088ff897..10934d54e566124e8616ca2c9046866818c80ae1 100644
--- a/coverage_html_report/navipy_errorprop_test_py.html
+++ b/coverage_html_report/navipy_errorprop_test_py.html
@@ -178,7 +178,7 @@
     <div class="content">
         <p>
             <a class="nav" href="index.html">&#xab; index</a> &nbsp; &nbsp; <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.1</a>,
-            created at 2019-01-26 17:27
+            created at 2019-01-28 13:19
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diff --git a/coverage_html_report/navipy_io___init___py.html b/coverage_html_report/navipy_io___init___py.html
index 93a99dc518bcb56d899f3cc0bf1d3ca4cce616a4..099d88028d126170841ed62c6a8368a4df88ab36 100644
--- a/coverage_html_report/navipy_io___init___py.html
+++ b/coverage_html_report/navipy_io___init___py.html
@@ -80,7 +80,7 @@
     <div class="content">
         <p>
             <a class="nav" href="index.html">&#xab; index</a> &nbsp; &nbsp; <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.1</a>,
-            created at 2019-01-25 11:58
+            created at 2019-01-27 14:10
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diff --git a/coverage_html_report/navipy_io_ivfile_py.html b/coverage_html_report/navipy_io_ivfile_py.html
index 97e8b313b09f5c44c3074378eb4e4f4efa07f3d3..f763c4b46b5433794af109475b0b6cf07b1ec482 100644
--- a/coverage_html_report/navipy_io_ivfile_py.html
+++ b/coverage_html_report/navipy_io_ivfile_py.html
@@ -614,7 +614,7 @@
     <div class="content">
         <p>
             <a class="nav" href="index.html">&#xab; index</a> &nbsp; &nbsp; <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.1</a>,
-            created at 2019-01-25 11:58
+            created at 2019-01-27 14:10
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diff --git a/coverage_html_report/navipy_io_opencv_py.html b/coverage_html_report/navipy_io_opencv_py.html
index 97195272190d22dab82c2791ab212a6e4e234e57..7a1127a9ea457e322e4c9fd333ac7928f5c1580f 100644
--- a/coverage_html_report/navipy_io_opencv_py.html
+++ b/coverage_html_report/navipy_io_opencv_py.html
@@ -268,7 +268,7 @@
     <div class="content">
         <p>
             <a class="nav" href="index.html">&#xab; index</a> &nbsp; &nbsp; <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.1</a>,
-            created at 2019-01-25 11:58
+            created at 2019-01-27 14:10
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diff --git a/coverage_html_report/navipy_maths___init___py.html b/coverage_html_report/navipy_maths___init___py.html
index 4c7cdb6aa9b234e5e5561e694891cd501eff8daa..75269e4fc32194c419be4e470ef0a32e9a897ea2 100644
--- a/coverage_html_report/navipy_maths___init___py.html
+++ b/coverage_html_report/navipy_maths___init___py.html
@@ -82,7 +82,7 @@
     <div class="content">
         <p>
             <a class="nav" href="index.html">&#xab; index</a> &nbsp; &nbsp; <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.1</a>,
-            created at 2019-01-25 11:58
+            created at 2019-01-27 14:10
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diff --git a/coverage_html_report/navipy_maths_constants_py.html b/coverage_html_report/navipy_maths_constants_py.html
index 096dee3e2ab23af3a168ed914f05f0d55408afe3..ad7726d461812a3bfc6cb8e89bde10caab48596b 100644
--- a/coverage_html_report/navipy_maths_constants_py.html
+++ b/coverage_html_report/navipy_maths_constants_py.html
@@ -112,7 +112,7 @@
     <div class="content">
         <p>
             <a class="nav" href="index.html">&#xab; index</a> &nbsp; &nbsp; <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.1</a>,
-            created at 2019-01-25 11:58
+            created at 2019-01-27 14:10
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diff --git a/coverage_html_report/navipy_maths_coordinates_py.html b/coverage_html_report/navipy_maths_coordinates_py.html
index e04b0e5d3496ff629d76f33bd9ffdd3d62963b05..0a5b0cdf29f2ea59f3c3c1fddf85f84b24869ff1 100644
--- a/coverage_html_report/navipy_maths_coordinates_py.html
+++ b/coverage_html_report/navipy_maths_coordinates_py.html
@@ -286,7 +286,7 @@
     <div class="content">
         <p>
             <a class="nav" href="index.html">&#xab; index</a> &nbsp; &nbsp; <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.1</a>,
-            created at 2019-01-27 12:29
+            created at 2019-01-28 13:19
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diff --git a/coverage_html_report/navipy_maths_euler_py.html b/coverage_html_report/navipy_maths_euler_py.html
index 156038dbd0875331796d1760d521dc0bbac61f59..58ea6fec69800eb62546e04e301b1bfd0e202afb 100644
--- a/coverage_html_report/navipy_maths_euler_py.html
+++ b/coverage_html_report/navipy_maths_euler_py.html
@@ -8,7 +8,7 @@
     
     
     <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
-    <title>Coverage for navipy/maths/euler.py: 95%</title>
+    <title>Coverage for navipy/maths/euler.py: 98%</title>
     <link rel="stylesheet" href="style.css" type="text/css">
     
     <script type="text/javascript" src="jquery.min.js"></script>
@@ -24,15 +24,15 @@
 <div id="header">
     <div class="content">
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-            <span class="pc_cov">95%</span>
+            <span class="pc_cov">98%</span>
         </h1>
 
         <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
 
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-            <span class="run hide_run shortkey_r button_toggle_run">113 run</span>
-            <span class="mis shortkey_m button_toggle_mis">6 missing</span>
+            <span class="run hide_run shortkey_r button_toggle_run">117 run</span>
+            <span class="mis shortkey_m button_toggle_mis">2 missing</span>
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@@ -149,7 +149,7 @@
 <p id="n80" class="pln"><a href="#n80">80</a></p>
 <p id="n81" class="pln"><a href="#n81">81</a></p>
 <p id="n82" class="stm run hide_run"><a href="#n82">82</a></p>
-<p id="n83" class="stm mis"><a href="#n83">83</a></p>
+<p id="n83" class="stm run hide_run"><a href="#n83">83</a></p>
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@@ -173,9 +173,9 @@
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+<p id="n107" class="stm run hide_run"><a href="#n107">107</a></p>
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@@ -250,7 +250,7 @@
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@@ -443,7 +443,7 @@
 <p id="t80" class="pln"><span class="str">           (2006): p. 9</span><span class="strut">&nbsp;</span></p>
 <p id="t81" class="pln"><span class="str">    """</span><span class="strut">&nbsp;</span></p>
 <p id="t82" class="stm run hide_run">    <span class="key">if</span> <span class="nam">axes</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">list</span><span class="op">(</span><span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
-<p id="t83" class="stm mis">        <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"the chosen convention is not supported"</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
+<p id="t83" class="stm run hide_run">        <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"the chosen convention is not supported"</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
 <p id="t84" class="stm run hide_run">    <span class="nam">r</span><span class="op">,</span> <span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">,</span> <span class="nam">k</span> <span class="op">=</span> <span class="nam">_AXES2TUPLE</span><span class="op">[</span><span class="nam">axes</span><span class="op">]</span><span class="strut">&nbsp;</span></p>
 <p id="t85" class="stm run hide_run">    <span class="nam">matrixes</span> <span class="op">=</span> <span class="op">[</span><span class="nam">R1</span><span class="op">,</span> <span class="nam">R2</span><span class="op">,</span> <span class="nam">R3</span><span class="op">]</span><span class="strut">&nbsp;</span></p>
 <p id="t86" class="stm run hide_run">    <span class="nam">Rijk</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">matrixes</span><span class="op">[</span><span class="nam">i</span><span class="op">]</span><span class="op">(</span><span class="nam">ai</span><span class="op">)</span><span class="op">,</span><span class="strut">&nbsp;</span></p>
@@ -467,9 +467,9 @@
 <p id="t104" class="pln"><span class="str">           (2006): p. 23 - 31.</span><span class="strut">&nbsp;</span></p>
 <p id="t105" class="pln"><span class="str">    """</span><span class="strut">&nbsp;</span></p>
 <p id="t106" class="stm run hide_run">    <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span> <span class="key">and</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
-<p id="t107" class="stm mis">        <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"matrix must be np.array or list"</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
+<p id="t107" class="stm run hide_run">        <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"matrix must be np.array or list"</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
 <p id="t108" class="stm run hide_run">    <span class="key">if</span> <span class="nam">axes</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">list</span><span class="op">(</span><span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
-<p id="t109" class="stm mis">        <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"the chosen convention is not supported"</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
+<p id="t109" class="stm run hide_run">        <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"the chosen convention is not supported"</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
 <p id="t110" class="pln">    <span class="com"># if np.any(np.isnan(np.array(matrix, dtype=np.float64))):</span><span class="strut">&nbsp;</span></p>
 <p id="t111" class="pln">    <span class="com">#    raise ValueError('posorient must not contain nan')</span><span class="strut">&nbsp;</span></p>
 <p id="t112" class="stm run hide_run">    <span class="key">if</span> <span class="key">not</span> <span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">matrix</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
@@ -544,7 +544,7 @@
 <p id="t181" class="pln"><span class="str">    """</span><span class="strut">&nbsp;</span></p>
 <p id="t182" class="stm run hide_run">    <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span> <span class="key">and</span><span class="xx">\</span><span class="strut">&nbsp;</span></p>
 <p id="t183" class="pln">       <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
-<p id="t184" class="stm mis">        <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"quaternions must be np.array or list"</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
+<p id="t184" class="stm run hide_run">        <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"quaternions must be np.array or list"</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
 <p id="t185" class="pln">    <span class="com"># if np.any(np.isnan(np.array(quaternion, dtype=np.float64))):</span><span class="strut">&nbsp;</span></p>
 <p id="t186" class="pln">    <span class="com">#    raise ValueError('posorient must not contain nan')</span><span class="strut">&nbsp;</span></p>
 <p id="t187" class="stm run hide_run">    <span class="key">if</span> <span class="nam">axes</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">list</span><span class="op">(</span><span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
@@ -662,7 +662,7 @@
     <div class="content">
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-            created at 2019-01-26 17:27
+            created at 2019-01-28 13:19
         </p>
     </div>
 </div>
diff --git a/coverage_html_report/navipy_maths_homogeneous_transformations_py.html b/coverage_html_report/navipy_maths_homogeneous_transformations_py.html
index 6267768a9e0de360b125c5959fb8a91d69540b7b..8946b7fe35d2c38068a5a210077ad68eb6d494b0 100644
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@@ -8,7 +8,7 @@
     
     
     <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
-    <title>Coverage for navipy/maths/homogeneous_transformations.py: 80%</title>
+    <title>Coverage for navipy/maths/homogeneous_transformations.py: 81%</title>
     <link rel="stylesheet" href="style.css" type="text/css">
     
     <script type="text/javascript" src="jquery.min.js"></script>
@@ -24,15 +24,15 @@
 <div id="header">
     <div class="content">
         <h1>Coverage for <b>navipy/maths/homogeneous_transformations.py</b> :
-            <span class="pc_cov">80%</span>
+            <span class="pc_cov">81%</span>
         </h1>
 
         <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
 
         <h2 class="stats">
             234 statements &nbsp;
-            <span class="run hide_run shortkey_r button_toggle_run">187 run</span>
-            <span class="mis shortkey_m button_toggle_mis">47 missing</span>
+            <span class="run hide_run shortkey_r button_toggle_run">189 run</span>
+            <span class="mis shortkey_m button_toggle_mis">45 missing</span>
             <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
 
             
@@ -381,8 +381,8 @@
 <p id="n312" class="stm run hide_run"><a href="#n312">312</a></p>
 <p id="n313" class="pln"><a href="#n313">313</a></p>
 <p id="n314" class="stm run hide_run"><a href="#n314">314</a></p>
-<p id="n315" class="stm mis"><a href="#n315">315</a></p>
-<p id="n316" class="stm mis"><a href="#n316">316</a></p>
+<p id="n315" class="stm run hide_run"><a href="#n315">315</a></p>
+<p id="n316" class="stm run hide_run"><a href="#n316">316</a></p>
 <p id="n317" class="pln"><a href="#n317">317</a></p>
 <p id="n318" class="stm run hide_run"><a href="#n318">318</a></p>
 <p id="n319" class="stm run hide_run"><a href="#n319">319</a></p>
@@ -768,8 +768,8 @@
 <p id="t312" class="stm run hide_run">    <span class="nam">shear</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="op">]</span> <span class="op">/=</span> <span class="nam">scale</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="strut">&nbsp;</span></p>
 <p id="t313" class="pln"><span class="strut">&nbsp;</span></p>
 <p id="t314" class="stm run hide_run">    <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">row</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cross</span><span class="op">(</span><span class="nam">row</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">row</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">)</span> <span class="op">&lt;</span> <span class="num">0</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
-<p id="t315" class="stm mis">        <span class="nam">np</span><span class="op">.</span><span class="nam">negative</span><span class="op">(</span><span class="nam">scale</span><span class="op">,</span> <span class="nam">scale</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
-<p id="t316" class="stm mis">        <span class="nam">np</span><span class="op">.</span><span class="nam">negative</span><span class="op">(</span><span class="nam">row</span><span class="op">,</span> <span class="nam">row</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
+<p id="t315" class="stm run hide_run">        <span class="nam">np</span><span class="op">.</span><span class="nam">negative</span><span class="op">(</span><span class="nam">scale</span><span class="op">,</span> <span class="nam">scale</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
+<p id="t316" class="stm run hide_run">        <span class="nam">np</span><span class="op">.</span><span class="nam">negative</span><span class="op">(</span><span class="nam">row</span><span class="op">,</span> <span class="nam">row</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
 <p id="t317" class="pln"><span class="strut">&nbsp;</span></p>
 <p id="t318" class="stm run hide_run">    <span class="nam">mat</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">inv</span><span class="op">(</span><span class="nam">row</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
 <p id="t319" class="stm run hide_run">    <span class="nam">angles</span> <span class="op">=</span> <span class="nam">euler</span><span class="op">.</span><span class="nam">from_matrix</span><span class="op">(</span><span class="nam">mat</span><span class="op">,</span> <span class="nam">axes</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
@@ -848,7 +848,7 @@
     <div class="content">
         <p>
             <a class="nav" href="index.html">&#xab; index</a> &nbsp; &nbsp; <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.1</a>,
-            created at 2019-01-26 17:25
+            created at 2019-01-28 13:19
         </p>
     </div>
 </div>
diff --git a/coverage_html_report/navipy_maths_quaternion_py.html b/coverage_html_report/navipy_maths_quaternion_py.html
index 5d7716b1c58e3560d46c85bab7ee341df9af3cf8..4a7dbc22a512fd5d56b3677e63ea416625fc8c20 100644
--- a/coverage_html_report/navipy_maths_quaternion_py.html
+++ b/coverage_html_report/navipy_maths_quaternion_py.html
@@ -8,7 +8,7 @@
     
     
     <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
-    <title>Coverage for navipy/maths/quaternion.py: 77%</title>
+    <title>Coverage for navipy/maths/quaternion.py: 97%</title>
     <link rel="stylesheet" href="style.css" type="text/css">
     
     <script type="text/javascript" src="jquery.min.js"></script>
@@ -24,15 +24,15 @@
 <div id="header">
     <div class="content">
         <h1>Coverage for <b>navipy/maths/quaternion.py</b> :
-            <span class="pc_cov">77%</span>
+            <span class="pc_cov">97%</span>
         </h1>
 
         <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
 
         <h2 class="stats">
             70 statements &nbsp;
-            <span class="run hide_run shortkey_r button_toggle_run">54 run</span>
-            <span class="mis shortkey_m button_toggle_mis">16 missing</span>
+            <span class="run hide_run shortkey_r button_toggle_run">68 run</span>
+            <span class="mis shortkey_m button_toggle_mis">2 missing</span>
             <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
 
             
@@ -199,9 +199,9 @@
 <p id="n130" class="pln"><a href="#n130">130</a></p>
 <p id="n131" class="pln"><a href="#n131">131</a></p>
 <p id="n132" class="pln"><a href="#n132">132</a></p>
-<p id="n133" class="stm mis"><a href="#n133">133</a></p>
+<p id="n133" class="stm run hide_run"><a href="#n133">133</a></p>
 <p id="n134" class="pln"><a href="#n134">134</a></p>
-<p id="n135" class="stm mis"><a href="#n135">135</a></p>
+<p id="n135" class="stm run hide_run"><a href="#n135">135</a></p>
 <p id="n136" class="pln"><a href="#n136">136</a></p>
 <p id="n137" class="pln"><a href="#n137">137</a></p>
 <p id="n138" class="pln"><a href="#n138">138</a></p>
@@ -233,9 +233,9 @@
 <p id="n164" class="stm run hide_run"><a href="#n164">164</a></p>
 <p id="n165" class="pln"><a href="#n165">165</a></p>
 <p id="n166" class="pln"><a href="#n166">166</a></p>
-<p id="n167" class="stm mis"><a href="#n167">167</a></p>
-<p id="n168" class="stm mis"><a href="#n168">168</a></p>
-<p id="n169" class="stm mis"><a href="#n169">169</a></p>
+<p id="n167" class="stm run hide_run"><a href="#n167">167</a></p>
+<p id="n168" class="stm run hide_run"><a href="#n168">168</a></p>
+<p id="n169" class="stm run hide_run"><a href="#n169">169</a></p>
 <p id="n170" class="pln"><a href="#n170">170</a></p>
 <p id="n171" class="pln"><a href="#n171">171</a></p>
 <p id="n172" class="stm run hide_run"><a href="#n172">172</a></p>
@@ -249,26 +249,26 @@
 <p id="n180" class="stm run hide_run"><a href="#n180">180</a></p>
 <p id="n181" class="pln"><a href="#n181">181</a></p>
 <p id="n182" class="pln"><a href="#n182">182</a></p>
-<p id="n183" class="stm mis"><a href="#n183">183</a></p>
+<p id="n183" class="stm run hide_run"><a href="#n183">183</a></p>
 <p id="n184" class="pln"><a href="#n184">184</a></p>
 <p id="n185" class="pln"><a href="#n185">185</a></p>
 <p id="n186" class="stm run hide_run"><a href="#n186">186</a></p>
 <p id="n187" class="pln"><a href="#n187">187</a></p>
 <p id="n188" class="pln"><a href="#n188">188</a></p>
-<p id="n189" class="stm mis"><a href="#n189">189</a></p>
+<p id="n189" class="stm run hide_run"><a href="#n189">189</a></p>
 <p id="n190" class="pln"><a href="#n190">190</a></p>
 <p id="n191" class="pln"><a href="#n191">191</a></p>
 <p id="n192" class="stm run hide_run"><a href="#n192">192</a></p>
 <p id="n193" class="pln"><a href="#n193">193</a></p>
 <p id="n194" class="pln"><a href="#n194">194</a></p>
-<p id="n195" class="stm mis"><a href="#n195">195</a></p>
-<p id="n196" class="stm mis"><a href="#n196">196</a></p>
-<p id="n197" class="stm mis"><a href="#n197">197</a></p>
-<p id="n198" class="stm mis"><a href="#n198">198</a></p>
-<p id="n199" class="stm mis"><a href="#n199">199</a></p>
+<p id="n195" class="stm run hide_run"><a href="#n195">195</a></p>
+<p id="n196" class="stm run hide_run"><a href="#n196">196</a></p>
+<p id="n197" class="stm run hide_run"><a href="#n197">197</a></p>
+<p id="n198" class="stm run hide_run"><a href="#n198">198</a></p>
+<p id="n199" class="stm run hide_run"><a href="#n199">199</a></p>
 <p id="n200" class="pln"><a href="#n200">200</a></p>
-<p id="n201" class="stm mis"><a href="#n201">201</a></p>
-<p id="n202" class="stm mis"><a href="#n202">202</a></p>
+<p id="n201" class="stm run hide_run"><a href="#n201">201</a></p>
+<p id="n202" class="stm run hide_run"><a href="#n202">202</a></p>
 
             </td>
             <td class="text">
@@ -404,9 +404,9 @@
 <p id="t130" class="pln">                                   <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut">&nbsp;</span></p>
 <p id="t131" class="pln">                                   <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut">&nbsp;</span></p>
 <p id="t132" class="pln">                                   <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
-<p id="t133" class="stm mis">    <span class="key">if</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">></span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">&lt;</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">&lt;</span> <span class="op">-</span><span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
+<p id="t133" class="stm run hide_run">    <span class="key">if</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">></span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">&lt;</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">&lt;</span> <span class="op">-</span><span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
 <p id="t134" class="pln">        <span class="com"># equation 143</span><span class="strut">&nbsp;</span></p>
-<p id="t135" class="stm mis">        <span class="key">return</span> <span class="op">(</span><span class="num">1</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut">&nbsp;</span></p>
+<p id="t135" class="stm run hide_run">        <span class="key">return</span> <span class="op">(</span><span class="num">1</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut">&nbsp;</span></p>
 <p id="t136" class="pln">                                   <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut">&nbsp;</span></p>
 <p id="t137" class="pln">                                   <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut">&nbsp;</span></p>
 <p id="t138" class="pln">                                   <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut">&nbsp;</span></p>
@@ -438,9 +438,9 @@
 <p id="t164" class="stm run hide_run"><span class="key">def</span> <span class="nam">conjugate</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
 <p id="t165" class="pln">    <span class="str">"""Return conjugate of quaternion.</span><span class="strut">&nbsp;</span></p>
 <p id="t166" class="pln"><span class="str">    """</span><span class="strut">&nbsp;</span></p>
-<p id="t167" class="stm mis">    <span class="nam">q</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
-<p id="t168" class="stm mis">    <span class="nam">np</span><span class="op">.</span><span class="nam">negative</span><span class="op">(</span><span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="op">]</span><span class="op">,</span> <span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
-<p id="t169" class="stm mis">    <span class="key">return</span> <span class="nam">q</span><span class="strut">&nbsp;</span></p>
+<p id="t167" class="stm run hide_run">    <span class="nam">q</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
+<p id="t168" class="stm run hide_run">    <span class="nam">np</span><span class="op">.</span><span class="nam">negative</span><span class="op">(</span><span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="op">]</span><span class="op">,</span> <span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
+<p id="t169" class="stm run hide_run">    <span class="key">return</span> <span class="nam">q</span><span class="strut">&nbsp;</span></p>
 <p id="t170" class="pln"><span class="strut">&nbsp;</span></p>
 <p id="t171" class="pln"><span class="strut">&nbsp;</span></p>
 <p id="t172" class="stm run hide_run"><span class="key">def</span> <span class="nam">inverse</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
@@ -454,26 +454,26 @@
 <p id="t180" class="stm run hide_run"><span class="key">def</span> <span class="nam">real</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
 <p id="t181" class="pln">    <span class="str">"""Return real part of quaternion.</span><span class="strut">&nbsp;</span></p>
 <p id="t182" class="pln"><span class="str">    """</span><span class="strut">&nbsp;</span></p>
-<p id="t183" class="stm mis">    <span class="key">return</span> <span class="nam">float</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
+<p id="t183" class="stm run hide_run">    <span class="key">return</span> <span class="nam">float</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
 <p id="t184" class="pln"><span class="strut">&nbsp;</span></p>
 <p id="t185" class="pln"><span class="strut">&nbsp;</span></p>
 <p id="t186" class="stm run hide_run"><span class="key">def</span> <span class="nam">imag</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
 <p id="t187" class="pln">    <span class="str">"""Return imaginary part of quaternion.</span><span class="strut">&nbsp;</span></p>
 <p id="t188" class="pln"><span class="str">    """</span><span class="strut">&nbsp;</span></p>
-<p id="t189" class="stm mis">    <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="num">4</span><span class="op">]</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
+<p id="t189" class="stm run hide_run">    <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="num">4</span><span class="op">]</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
 <p id="t190" class="pln"><span class="strut">&nbsp;</span></p>
 <p id="t191" class="pln"><span class="strut">&nbsp;</span></p>
 <p id="t192" class="stm run hide_run"><span class="key">def</span> <span class="nam">diff</span><span class="op">(</span><span class="nam">quaternion0</span><span class="op">,</span> <span class="nam">quaternion1</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
 <p id="t193" class="pln">    <span class="str">""" The axis and angle between two quaternions</span><span class="strut">&nbsp;</span></p>
 <p id="t194" class="pln"><span class="str">    """</span><span class="strut">&nbsp;</span></p>
-<p id="t195" class="stm mis">    <span class="nam">q</span> <span class="op">=</span> <span class="nam">multiply</span><span class="op">(</span><span class="nam">quaternion1</span><span class="op">,</span> <span class="nam">conjugate</span><span class="op">(</span><span class="nam">quaternion0</span><span class="op">)</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
-<p id="t196" class="stm mis">    <span class="nam">length</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="num">4</span><span class="op">]</span> <span class="op">*</span> <span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="num">4</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
-<p id="t197" class="stm mis">    <span class="nam">angle</span> <span class="op">=</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">length</span><span class="op">,</span> <span class="nam">q</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
-<p id="t198" class="stm mis">    <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isclose</span><span class="op">(</span><span class="nam">length</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
-<p id="t199" class="stm mis">        <span class="nam">axis</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
+<p id="t195" class="stm run hide_run">    <span class="nam">q</span> <span class="op">=</span> <span class="nam">multiply</span><span class="op">(</span><span class="nam">quaternion1</span><span class="op">,</span> <span class="nam">conjugate</span><span class="op">(</span><span class="nam">quaternion0</span><span class="op">)</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
+<p id="t196" class="stm run hide_run">    <span class="nam">length</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="num">4</span><span class="op">]</span> <span class="op">*</span> <span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="num">4</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
+<p id="t197" class="stm run hide_run">    <span class="nam">angle</span> <span class="op">=</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">length</span><span class="op">,</span> <span class="nam">q</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
+<p id="t198" class="stm run hide_run">    <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isclose</span><span class="op">(</span><span class="nam">length</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
+<p id="t199" class="stm run hide_run">        <span class="nam">axis</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
 <p id="t200" class="pln">    <span class="key">else</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
-<p id="t201" class="stm mis">        <span class="nam">axis</span> <span class="op">=</span> <span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="num">4</span><span class="op">]</span> <span class="op">/</span> <span class="nam">length</span><span class="strut">&nbsp;</span></p>
-<p id="t202" class="stm mis">    <span class="key">return</span> <span class="nam">axis</span><span class="op">,</span> <span class="nam">angle</span><span class="strut">&nbsp;</span></p>
+<p id="t201" class="stm run hide_run">        <span class="nam">axis</span> <span class="op">=</span> <span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="num">4</span><span class="op">]</span> <span class="op">/</span> <span class="nam">length</span><span class="strut">&nbsp;</span></p>
+<p id="t202" class="stm run hide_run">    <span class="key">return</span> <span class="nam">axis</span><span class="op">,</span> <span class="nam">angle</span><span class="strut">&nbsp;</span></p>
 
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-            created at 2019-01-27 12:29
+            created at 2019-01-28 19:46
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index 66e0e5cbd958a36572c4a895d7bcc81cc98e192f..153913c74e12029aae77cbcae97c9593be571139 100644
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+            created at 2019-01-27 14:10
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+            created at 2019-01-27 14:10
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+            created at 2019-01-28 13:19
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+            created at 2019-01-27 14:10
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diff --git a/navipy/maths/test_euler.py b/navipy/maths/test_euler.py
index 34f662793a9f9cfcd762591145ab1c2cde8ca8b6..fe04f8f502da3dfefab71ca51788575fb434240d 100644
--- a/navipy/maths/test_euler.py
+++ b/navipy/maths/test_euler.py
@@ -71,8 +71,9 @@ class TestEuler(unittest.TestCase):
                            (1.0, 2.0, 3.0, 'w')]:
             with self.assertRaises(ValueError):
                 euler.from_quaternion([a, b, c, d])
+        for c, d in [(3.0,2),([5, 6.0]),([4.0, 2]),(4, 3)]:
             with self.assertRaises(TypeError):
-                euler.from_quaternion(a,b,c,d)
+                euler.from_quaternion(c, d)
 
         with self.assertRaises(Exception):
             euler.from_quaternion([9.0, 8.0, 7.0, 0.3], 'w')
@@ -83,14 +84,17 @@ class TestEuler(unittest.TestCase):
         of wrong type, value are passed to the euler.from_matrix
         function
         """
-        for a, b, c, d in [(None, 2, 6, 'xyz'), (9.0, np.nan, 2, 'xyz'),
-                           (5.0, 4.0, None, 'xyz'),(3, 5, 2.0, 'w')]:
+        for a, b, c, d in [(None, 2, 6, 'xyz'), (9.0, 'w', 2, 'xyz'),
+                           (5.0, 4.0, None, 'xyz'),
+                           (1.0, 2.0, 3.0, 'w')]:
             with self.assertRaises(ValueError):
                 euler.from_matrix([a, b, c, d])
+        for c, d in [(3.0,2),([5, 6.0]),([4.0, 2]),(4, 3)]:
             with self.assertRaises(TypeError):
-                euler.from_matrix(a, b, c, d)
+                euler.from_matrix(c, d)
+
         with self.assertRaises(Exception):
-            euler.from_matrix(9.0, 8.0, 7.0, 'w')
+            euler.from_matrix([9.0, 8],  'w')
 
     def test_angle_rate_matrix_params(self):
         """
@@ -345,6 +349,10 @@ class TestEuler(unittest.TestCase):
             with self.assertRaises(TypeError):
                 euler.R3(a)
 
+    def test_matrix(self):
+        with self.assertRaises(Exception):
+            euler.matrix(9.0, 8.0, 7.0, 'w')
+
 
 if __name__ == '__main__':
     unittest.main()
diff --git a/navipy/maths/test_quaternion.py b/navipy/maths/test_quaternion.py
index ef07783315c6195f6168da85508862b47e7bbea9..158d0a1cfa2e50582d258f27cbf1e998240f382d 100644
--- a/navipy/maths/test_quaternion.py
+++ b/navipy/maths/test_quaternion.py
@@ -54,6 +54,29 @@ class TestQuaternions(unittest.TestCase):
             quat.multiply(quaternion_0, quaternion_1),
             [1, 0, 0, 0]))
 
+    def test_mytest(self):
+        val = quat.conjugate([2, 3.0, 4])
+        self.assertTrue((val == [2, -3, -4]).all())
+
+    def test_real(self):
+        val1 = quat.real([2, 3.0, 4])
+        val2 = quat.real ([5.0, 4, 7])
+        self.assertEqual(val1, 2.0)
+        self.assertEqual(val2, 5.0)
+
+    def test_imag(self):
+        val = quat.imag([2, 4.0,6 , 3.0, 5.0, 10, 9.0])
+        self.assertTrue((val == [4, 6, 3]).all())
+
+    def test_diff(self):
+        axis, angle = quat.diff([2, 3.0, 4, 5],[4, 8.0, 2, 3])
+        self.assertTrue(np.allclose(axis,[ 0.09230769,  0.29230769, -0.61538462]))
+        self.assertEqual(angle, 1.7370787905717791)
+        """for testing length 0 condition"""
+        a, b = quat.diff([2,0, 0, 0],[ 3, 0,0, 0])
+        self.assertTrue(np.allclose(a, [1, 0, 0]))
+
+
 
 if __name__ == '__main__':
     unittest.main()