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Using the quaternion package and instantiating quaternions of the shape
a = Quaternion(1,1,1,1)
the command
exp(a)
returned an error of the function eps : "no method matching eps(::Int64)". Maybe an automatic convert of the coordinates of the quaternion to Float could solve the problem?
In the meantime, I just changed my initialization for:
a = Quaternion(1.0,1.0,1.0,1.0) which lifted the error.