Unit Quaternion logarithm inconsistent with exp about nalgebra HOT 1 OPEN

    #[test]
    fn quaternion_3() {
        let p = UnitQuaternion::from_scaled_axis(Vector3::new(0., 0., 1.));
        let q = p.into_inner();
        dbg!(q.ln());
        dbg!(p.ln());
        assert!((q.ln().exp() - q).norm() < 1e-9); // OK - Quaternion<f64>
        assert!((p.ln().exp() - q).norm() < 1e-9); // fails - Unit<Quaternion<f64>>
    }

[src/main.rs:559:9] q.ln() = [
    0.0,
    0.0,
    0.4999999999999999,
    0.0,
]
[src/main.rs:560:9] p.ln() = [
    0.0,
    0.0,
    1.0,
    0.0,
]