Remove special case for 0 norm in quat. log and exp
Remove special case for 0 norm in quat. log and exp

* This is handled by the Taylor series approximation

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