Fix series in quaternion exponential derivative
Fix series in quaternion exponential derivative

ndantam/amino,KeliangH/amino,golems/amino,golems/amino,golems/amino,ndantam/amino,KeliangH/amino,KeliangH/amino,golems/amino,ndantam/amino,ndantam/amino,golems/amino,ndantam/amino,ndantam/amino,KeliangH/amino,KeliangH/amino,golems/amino,KeliangH/amino