diff --git a/.coverage b/.coverage
index 707d97ef46dec9740e778cf5ebf32bd3202a0f25..9f1ee8f606e978c4cb481058411ff162e2d940a0 100644
--- a/.coverage
+++ b/.coverage
@@ -1 +1 @@
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diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index ec8d925907fbe34f8033ccee91137f6f48586df1..36e28018f670a81e3f4da3fa23ea882624e8ca19 100644
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+++ b/coverage_html_report/navipy_arenatools_triangulate_py.html
@@ -464,7 +464,7 @@
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-            created at 2019-02-01 16:43
+            created at 2019-02-12 12:55
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index 3445b10245f18a5d8d6f8367777e87ee55bd0d5a..3175e191c72cd53b105f123d60826edf54cfcf5d 100644
--- a/coverage_html_report/navipy_comparing___init___py.html
+++ b/coverage_html_report/navipy_comparing___init___py.html
@@ -476,7 +476,7 @@
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-            created at 2019-02-03 16:22
+            created at 2019-02-12 12:56
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index 6f23bcc0feeef94aa7e544b9a69c7f65c6d2bffd..f949a3733911f7755640be7dee4b4864fa3e262b 100644
--- a/coverage_html_report/navipy_comparing_test_py.html
+++ b/coverage_html_report/navipy_comparing_test_py.html
@@ -714,7 +714,7 @@
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-            created at 2019-02-03 16:22
+            created at 2019-02-12 12:56
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index b60881ce9bb088db13013f3252fb583dab1cf740..ed2553173da87e101937c500d3946523ec93e6bb 100644
--- a/coverage_html_report/navipy_database___init___py.html
+++ b/coverage_html_report/navipy_database___init___py.html
@@ -1984,7 +1984,7 @@
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-            created at 2019-02-03 16:22
+            created at 2019-02-12 12:56
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index b384d4f89d9ba17295b96296938c2ace4ad0acda..986eabbf7c07fac264192b7d6354eec2e8452862 100644
--- a/coverage_html_report/navipy_database_test_py.html
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-            created at 2019-02-03 16:22
+            created at 2019-02-12 12:56
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index f1217c8fb894dae9692b466d57a16d8c86ed6ed8..46069b5b32d37cf72ebf140f5caa2f5f1221bc8c 100644
--- a/coverage_html_report/navipy_database_tools_py.html
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@@ -122,7 +122,7 @@
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-            created at 2019-02-01 16:43
+            created at 2019-02-12 12:55
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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 975c6b451e039a305e5e795753d7d1eef542f72a..fdef4baf11d58e3d4077e51f09ede90be2db19e2 100644
--- a/coverage_html_report/navipy_errorprop___init___py.html
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-            created at 2019-02-03 16:22
+            created at 2019-02-12 12:56
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index 09dbb921233a5832a10aad1b630a6f170960460b..4be9a43a765d8d3e7b3f3d8010644aca6847c990 100644
--- a/coverage_html_report/navipy_errorprop_test_py.html
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@@ -178,7 +178,7 @@
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-            created at 2019-02-03 16:22
+            created at 2019-02-12 12:56
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index a65e1247fc0a88831133a80521ee3f118172b173..02400eefc6de443c8bd7bb7e314cb00dc1452c27 100644
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-            created at 2019-02-01 16:43
+            created at 2019-02-12 12:55
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index 44c7b3ed029033f99e6e94bc67fe7ed761910b03..f75db668e2bc3cf677928f0738807d77aa49467a 100644
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+            created at 2019-02-12 12:55
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index d32c4b1d8cb7be3da42b4b0a6875dcfee4cf697e..e53b64c5e756dc1e2412c42917fae1fd69e0bb80 100644
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-            created at 2019-02-01 16:43
+            created at 2019-02-12 12:55
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index 3d12b5470cbed00a0e7c5f396c4de9fd3f395a53..35f026197bc20fe9dab6ac7a4d6a66cb0569fb7c 100644
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-            created at 2019-02-01 16:43
+            created at 2019-02-12 12:55
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index bc058df9063efc54c37517cc6522aa032ca04914..e6abc64addc061eeab555a8c004ba42c64140939 100644
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@@ -112,7 +112,7 @@
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-            created at 2019-02-01 16:43
+            created at 2019-02-12 12:55
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index 0313e65844a06c44f65413e5f0e453fec948802f..d0ff6dbd59cb58866f2b3e41113a2c33bad8ca79 100644
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@@ -286,7 +286,7 @@
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         <p>
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-            created at 2019-02-03 16:22
+            created at 2019-02-12 12:56
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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 12cd41efe68597a5ac66418cb1711156946c60a8..b02a90e3d73ffda0ca44a82d03b3fb74682c5f6e 100644
--- a/coverage_html_report/navipy_maths_euler_py.html
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@@ -662,7 +662,7 @@
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-            created at 2019-02-03 16:22
+            created at 2019-02-12 12:56
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diff --git a/coverage_html_report/navipy_maths_homogeneous_transformations_py.html b/coverage_html_report/navipy_maths_homogeneous_transformations_py.html
index c3ba79b04fef2636076d5ff95288829bc880ab4e..aa0dd65af460326497a6e21c6b6695e4f2544237 100644
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+++ b/coverage_html_report/navipy_maths_homogeneous_transformations_py.html
@@ -8,7 +8,7 @@
     
     
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-    <title>Coverage for navipy/maths/homogeneous_transformations.py: 81%</title>
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@@ -24,15 +24,15 @@
 <div id="header">
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+<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>
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index bd067b82abf741fb00dd3c0627d18bfb23110128..23c0886499405eac6beeef4f44a8cb48dee20370 100644
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 <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 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="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="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="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>
@@ -413,9 +413,9 @@
 <p id="t139" 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="t140" class="pln">                                   <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">2</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">1</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut">&nbsp;</span></p>
 <p id="t141" 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="t142" 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">&lt;</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="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="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">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="t142" 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">&lt;</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="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="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">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="t143" class="pln">        <span class="com"># equation 144</span><span class="strut">&nbsp;</span></p>
-<p id="t144" 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">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="t144" 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">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="t145" 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="t146" 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="t147" 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>
@@ -484,7 +484,7 @@
     <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 2019-02-01 16:43
+            created at 2019-02-15 19:31
         </p>
     </div>
 </div>
diff --git a/coverage_html_report/navipy_maths_random_py.html b/coverage_html_report/navipy_maths_random_py.html
index 16346e491483356500f33fd9fd20951c86fed16b..d0997e2e43d3009514fbe89704bbf29682cdfa4e 100644
--- a/coverage_html_report/navipy_maths_random_py.html
+++ b/coverage_html_report/navipy_maths_random_py.html
@@ -8,7 +8,7 @@
     
     
     <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
-    <title>Coverage for navipy/maths/random.py: 96%</title>
+    <title>Coverage for navipy/maths/random.py: 100%</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/random.py</b> :
-            <span class="pc_cov">96%</span>
+            <span class="pc_cov">100%</span>
         </h1>
 
         <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
 
         <h2 class="stats">
             26 statements &nbsp;
-            <span class="run hide_run shortkey_r button_toggle_run">25 run</span>
-            <span class="mis shortkey_m button_toggle_mis">1 missing</span>
+            <span class="run hide_run shortkey_r button_toggle_run">26 run</span>
+            <span class="mis shortkey_m button_toggle_mis">0 missing</span>
             <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
 
             
@@ -108,7 +108,7 @@
 <p id="n39" class="stm run hide_run"><a href="#n39">39</a></p>
 <p id="n40" class="stm run hide_run"><a href="#n40">40</a></p>
 <p id="n41" class="pln"><a href="#n41">41</a></p>
-<p id="n42" class="stm mis"><a href="#n42">42</a></p>
+<p id="n42" class="stm run hide_run"><a href="#n42">42</a></p>
 <p id="n43" class="stm run hide_run"><a href="#n43">43</a></p>
 <p id="n44" class="stm run hide_run"><a href="#n44">44</a></p>
 <p id="n45" class="stm run hide_run"><a href="#n45">45</a></p>
@@ -160,7 +160,7 @@
 <p id="t39" class="stm run hide_run">    <span class="key">if</span> <span class="nam">rand</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
 <p id="t40" class="stm run hide_run">        <span class="nam">rand</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="num">3</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
 <p id="t41" class="pln">    <span class="key">else</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
-<p id="t42" class="stm mis">        <span class="key">assert</span> <span class="nam">len</span><span class="op">(</span><span class="nam">rand</span><span class="op">)</span> <span class="op">==</span> <span class="num">3</span><span class="strut">&nbsp;</span></p>
+<p id="t42" class="stm run hide_run">        <span class="key">assert</span> <span class="nam">len</span><span class="op">(</span><span class="nam">rand</span><span class="op">)</span> <span class="op">==</span> <span class="num">3</span><span class="strut">&nbsp;</span></p>
 <p id="t43" class="stm run hide_run">    <span class="nam">r1</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="num">1.0</span> <span class="op">-</span> <span class="nam">rand</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="t44" class="stm run hide_run">    <span class="nam">r2</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">rand</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="t45" class="stm run hide_run">    <span class="nam">pi2</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">*</span> <span class="num">2.0</span><span class="strut">&nbsp;</span></p>
@@ -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 2019-02-01 16:43
+            created at 2019-02-15 13:04
         </p>
     </div>
 </div>
diff --git a/coverage_html_report/navipy_maths_tools_py.html b/coverage_html_report/navipy_maths_tools_py.html
index bc498b600a07b73a293f6ab70113f70526fedc57..e03244b3b9949dd4136051a1e8263d0e4f8a6c17 100644
--- a/coverage_html_report/navipy_maths_tools_py.html
+++ b/coverage_html_report/navipy_maths_tools_py.html
@@ -196,7 +196,7 @@
     <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 2019-02-01 16:43
+            created at 2019-02-12 12:55
         </p>
     </div>
 </div>
diff --git a/coverage_html_report/navipy_models___init___py.html b/coverage_html_report/navipy_models___init___py.html
index f56417e5be8955d524f16ac49502dfee1193ed34..9cd56f04bc4bf2ce9a1de40359c720e26417b0cd 100644
--- a/coverage_html_report/navipy_models___init___py.html
+++ b/coverage_html_report/navipy_models___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 2019-02-03 16:22
+            created at 2019-02-12 12:56
         </p>
     </div>
 </div>
diff --git a/coverage_html_report/navipy_models_dewar_2014_py.html b/coverage_html_report/navipy_models_dewar_2014_py.html
index 7649abb8513bff18ffe34bbd81e2a12f333bdcdd..869a0ddf80963caaccfea50d42affca36b0c868d 100644
--- a/coverage_html_report/navipy_models_dewar_2014_py.html
+++ b/coverage_html_report/navipy_models_dewar_2014_py.html
@@ -218,7 +218,7 @@
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diff --git a/navipy/maths/test_coordinates.py b/navipy/maths/test_coordinates.py
index 07d141584e5164cb5d5e430ca1bf6865932eb7f7..f4432905766c58b999afba9f8672156b6f1f7bf4 100644
--- a/navipy/maths/test_coordinates.py
+++ b/navipy/maths/test_coordinates.py
@@ -23,6 +23,19 @@ class TestCoordinates(unittest.TestCase):
             with self.assertRaises(TypeError):
                 coordinates.cartesian_to_spherical_vectors(c, d)
 
+        for g,h in [((3.0,2, 4),(1.0, 5, 6.0)),((4.0,4,  2),(4, 5.0, 3))]:
+            with self.assertRaises(TypeError):
+                coordinates.cartesian_to_spherical_vectors(g,h)
+
+            with self.assertRaises(Exception):
+                coordinates.cartesian_to_spherical_vectors(g, h)
+
+
+        for e,f in [(np.array([2, 4, 6, 8])),(np.array([2, 4, 6, 8, 3.0]))]:
+            with self.assertRaises(Exception):
+
+                coordinates.cartesian_to_spherical_vectors(e, f)
+
         with self.assertRaises(Exception):
             e = np.array([2, 4, 6, 8])
             f = np.array([2, 4, 6, 8, 3.0])
diff --git a/navipy/maths/test_random.py b/navipy/maths/test_random.py
index 971174cf4c6e739843b0aa10a939864236ca44af..915781e5f3ffb81367930174f26402d58be7c26b 100644
--- a/navipy/maths/test_random.py
+++ b/navipy/maths/test_random.py
@@ -14,6 +14,9 @@ class TestRandom(unittest.TestCase):
         quaternion = random.quaternion()
         self.assertTrue(np.allclose(1, vector_norm(quaternion)))
 
+        with self.assertRaises(Exception):
+           quaternion2 = np.random.rand(4)
+           random.quaternion(quaternion2)
 
 
 if __name__ == '__main__':