diff --git a/.coverage b/.coverage
index bb18e2b5661b1bc12b491fe7cfa1c12cdfafb0b7..c1a856afe5d023eeb3b20a07bc3bd0bec845990b 100644
--- a/.coverage
+++ b/.coverage
@@ -1 +1 @@
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index 573521059388867b23e1b20f938251b265f8be32..2e8cb5294f0e5d4fee8e559b4891c4dba5437b07 100644
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+          <provider selected="true" editor-type-id="text-editor">
+            <state relative-caret-position="-58">
+              <caret line="172" column="52" lean-forward="true" selection-start-line="172" selection-start-column="52" selection-end-line="172" selection-end-column="52" />
+              <folding>
+                <element signature="e#0#15#0" expanded="true" />
+              </folding>
+            </state>
+          </provider>
+        </entry>
+      </file>
+      <file pinned="false" current-in-tab="false">
+        <entry file="file://$PROJECT_DIR$/navipy/maths/test_random.py">
+          <provider selected="true" editor-type-id="text-editor">
+            <state>
+              <folding>
+                <element signature="e#0#15#0" expanded="true" />
+              </folding>
+            </state>
+          </provider>
+        </entry>
+      </file>
       <file pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/navipy/maths/euler.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="-2323">
+            <state relative-caret-position="-1949">
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               <folding>
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@@ -58,8 +98,9 @@
   </component>
   <component name="FindInProjectRecents">
     <findStrings>
-      <find>veloc</find>
       <find>velo</find>
+      <find>veloc</find>
+      <find>simp</find>
     </findStrings>
   </component>
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@@ -97,6 +138,12 @@
               <item name="navipy" type="462c0819:PsiDirectoryNode" />
               <item name="navipy" type="462c0819:PsiDirectoryNode" />
             </path>
+            <path>
+              <item name="navipy" type="b2602c69:ProjectViewProjectNode" />
+              <item name="navipy" type="462c0819:PsiDirectoryNode" />
+              <item name="navipy" type="462c0819:PsiDirectoryNode" />
+              <item name="comparing" type="462c0819:PsiDirectoryNode" />
+            </path>
             <path>
               <item name="navipy" type="b2602c69:ProjectViewProjectNode" />
               <item name="navipy" type="462c0819:PsiDirectoryNode" />
@@ -117,7 +164,7 @@
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+    <property name="com.android.tools.idea.instantapp.provision.ProvisionBeforeRunTaskProvider.myTimeStamp" value="1548066922111" />
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@@ -170,12 +217,12 @@
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       <updated>1547415875214</updated>
       <workItem from="1547415880176" duration="372000" />
-      <workItem from="1547416580488" duration="10065000" />
+      <workItem from="1547416580488" duration="13702000" />
     </task>
     <servers />
   </component>
   <component name="TimeTrackingManager">
-    <option name="totallyTimeSpent" value="10437000" />
+    <option name="totallyTimeSpent" value="14074000" />
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@@ -253,9 +300,6 @@
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@@ -274,7 +318,7 @@
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     <entry file="file://$PROJECT_DIR$/navipy/maths/euler.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="-2323">
+        <state relative-caret-position="-1949">
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           <folding>
             <element signature="e#0#18#0" expanded="true" />
@@ -282,10 +326,41 @@
         </state>
       </provider>
     </entry>
+    <entry file="file://$PROJECT_DIR$/navipy/maths/test_quaternion.py">
+      <provider selected="true" editor-type-id="text-editor">
+        <state>
+          <folding>
+            <element signature="e#0#15#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/navipy/maths/test_random.py">
+      <provider selected="true" editor-type-id="text-editor">
+        <state>
+          <folding>
+            <element signature="e#0#15#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/navipy/processing/test_mcode.py">
+      <provider selected="true" editor-type-id="text-editor" />
+    </entry>
+    <entry file="file://$PROJECT_DIR$/navipy/comparing/test.py">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="-58">
+          <caret line="172" column="52" lean-forward="true" selection-start-line="172" selection-start-column="52" selection-end-line="172" selection-end-column="52" />
+          <folding>
+            <element signature="e#0#15#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
     <entry file="file://$PROJECT_DIR$/navipy/maths/test_euler.py">
       <provider selected="true" editor-type-id="text-editor">
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-          <caret line="117" column="75" lean-forward="true" selection-start-line="117" selection-start-column="75" selection-end-line="117" selection-end-column="75" />
+        <state relative-caret-position="460">
+          <caret line="338" column="22" lean-forward="true" selection-start-line="338" selection-start-column="22" selection-end-line="338" selection-end-column="22" />
           <folding>
             <element signature="e#0#18#0" expanded="true" />
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diff --git a/coverage_html_report/index.html b/coverage_html_report/index.html
index 8a21f95f1c9ec111a59df02741e82f8da483f91d..7d6a8b6b7f849f895e8cd2c901fc47e3af211209 100644
--- a/coverage_html_report/index.html
+++ b/coverage_html_report/index.html
@@ -66,10 +66,10 @@
             <tr class="total">
                 <td class="name left">Total</td>
                 <td>4725</td>
-                <td>2357</td>
+                <td>2358</td>
                 <td>0</td>
                 
-                <td class="right" data-ratio="2368 4725">50%</td>
+                <td class="right" data-ratio="2367 4725">50%</td>
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@@ -248,28 +248,28 @@
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                 <td>119</td>
-                <td>10</td>
+                <td>9</td>
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-                <td class="right" data-ratio="109 119">92%</td>
+                <td class="right" data-ratio="110 119">92%</td>
             </tr>
             
             <tr class="file">
                 <td class="name left"><a href="navipy_maths_homogeneous_transformations_py.html">navipy/maths/homogeneous_transformations.py</a></td>
                 <td>234</td>
-                <td>47</td>
+                <td>45</td>
                 <td>0</td>
                 
-                <td class="right" data-ratio="187 234">80%</td>
+                <td class="right" data-ratio="189 234">81%</td>
             </tr>
             
             <tr class="file">
                 <td class="name left"><a href="navipy_maths_quaternion_py.html">navipy/maths/quaternion.py</a></td>
                 <td>70</td>
-                <td>12</td>
+                <td>16</td>
                 <td>0</td>
                 
-                <td class="right" data-ratio="58 70">83%</td>
+                <td class="right" data-ratio="54 70">77%</td>
             </tr>
             
             <tr class="file">
@@ -500,7 +500,7 @@
     <div class="content">
         <p>
             <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
-            created at 2019-01-20 12:00
+            created at 2019-01-20 12:10
         </p>
     </div>
 </div>
diff --git a/coverage_html_report/navipy_maths_euler_py.html b/coverage_html_report/navipy_maths_euler_py.html
index 82827f58076affaebf5aa904da07178cf2bd33b9..bc633431045a1997066393d80f4e9c6fe86a0db1 100644
--- a/coverage_html_report/navipy_maths_euler_py.html
+++ b/coverage_html_report/navipy_maths_euler_py.html
@@ -31,8 +31,8 @@
 
         <h2 class="stats">
             119 statements &nbsp;
-            <span class="run hide_run shortkey_r button_toggle_run">109 run</span>
-            <span class="mis shortkey_m button_toggle_mis">10 missing</span>
+            <span class="run hide_run shortkey_r button_toggle_run">110 run</span>
+            <span class="mis shortkey_m button_toggle_mis">9 missing</span>
             <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
 
             
@@ -344,7 +344,7 @@
 <p id="n275" class="stm run hide_run"><a href="#n275">275</a></p>
 <p id="n276" class="stm run hide_run"><a href="#n276">276</a></p>
 <p id="n277" class="stm run hide_run"><a href="#n277">277</a></p>
-<p id="n278" class="stm mis"><a href="#n278">278</a></p>
+<p id="n278" class="stm run hide_run"><a href="#n278">278</a></p>
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@@ -638,7 +638,7 @@
 <p id="t275" 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">daj</span><span class="op">,</span> <span class="nam">float</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">daj</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
 <p id="t276" class="stm run hide_run">        <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"euler angle time derivative must be of type float"</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
 <p id="t277" 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">dak</span><span class="op">,</span> <span class="nam">float</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">dak</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut">&nbsp;</span></p>
-<p id="t278" class="stm mis">        <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"euler angle time derivative must be of type float"</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
+<p id="t278" class="stm run hide_run">        <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"euler angle time derivative must be of type float"</span><span class="op">)</span><span class="strut">&nbsp;</span></p>
 <p id="t279" class="pln">    <span class="com"># if np.isnan(np.array([ai], dtype=np.float64)) or\</span><span class="strut">&nbsp;</span></p>
 <p id="t280" class="pln">    <span class="com">#   np.isnan(np.array([aj], dtype=np.float64)) or\</span><span class="strut">&nbsp;</span></p>
 <p id="t281" class="pln">    <span class="com">#   np.isnan(np.array([ak], dtype=np.float64)):</span><span class="strut">&nbsp;</span></p>
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     <div class="content">
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-            created at 2019-01-16 18:11
+            created at 2019-01-20 12:10
         </p>
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index 5efc78e302df34628bc148a926314e4efc3daf71..3871bcbcc828475a984d39e146f567992b53a487 100644
--- a/coverage_html_report/navipy_maths_homogeneous_transformations_py.html
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-    <title>Coverage for navipy/maths/homogeneous_transformations.py: 80%</title>
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@@ -24,15 +24,15 @@
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@@ -381,8 +381,8 @@
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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>
+<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>
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 <p id="n147" class="pln"><a href="#n147">147</a></p>
@@ -404,18 +404,18 @@
 <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 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="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>
 <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>
 <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 v4.5.2</a>,
-            created at 2019-01-20 12:00
+            created at 2019-01-20 12:10
         </p>
     </div>
 </div>
diff --git a/coverage_html_report/status.json b/coverage_html_report/status.json
index 20b3f04e7039b649b4997471d4a5f249e78e0006..043cd15208a4a31e20cd9e7e84fb454fa3548d55 100644
--- a/coverage_html_report/status.json
+++ b/coverage_html_report/status.json
@@ -1 +1 @@
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diff --git a/navipy/maths/test_euler.py b/navipy/maths/test_euler.py
index 06ac002e21812492791c90fa4b644a394a0b7da5..887f728a61022e581d378e70a142ad5d7ffb0117 100644
--- a/navipy/maths/test_euler.py
+++ b/navipy/maths/test_euler.py
@@ -326,6 +326,21 @@ class TestEuler(unittest.TestCase):
         M = angle_rate_matrix(ea, eb, ec, 'zyz')
         self.assertTrue(np.allclose(rotM, M))
 
+    def test_R1(self):
+        for a, b, c in [(None,3,5.0), (3,'ere', 4.0), (2, 4.0, None)]:
+            with self.assertRaises(TypeError):
+                euler.R1(a, b, c)
+
+    def test_R2(self):
+        for a, b, c in [(None,3,7.0), (3,'ere', 4.0), (2, 4.0, None)]:
+            with self.assertRaises(TypeError):
+                euler.R2(a, b, c)
+
+    def test_R3(self):
+        for a, b, c in [(None,3,5.0), (3,'ere', 4.0), (2, 4.0, None)]:
+            with self.assertRaises(TypeError):
+                euler.R3(a, b, c)
+
 
 if __name__ == '__main__':
     unittest.main()