double angle=0.5*Math.PI;
Matrix33 rotM = Matrixx.createRotationMatrix(axis, angle);
Vector4 rotQ = Quaternions.axisAngle(axis, angle);
Vector3 mv=rotM.innerProduct(v);
Vector3 qv=Quaternions.rotate(rotQ, v);
assertEquals(mv,qv);
assertTrue(mv.epsilonEquals(qv));
}