double[] unit1 = g.nextVector();
Rotation r1 = new Rotation(new Vector3D(unit1[0], unit1[1], unit1[2]),
random.nextDouble());
FieldRotation<Dfp> r1Prime = new FieldRotation<Dfp>(field.newDfp(r1.getQ0()),
field.newDfp(r1.getQ1()),
field.newDfp(r1.getQ2()),
field.newDfp(r1.getQ3()),
false);
double[] unit2 = g.nextVector();
FieldRotation<Dfp> r2 = new FieldRotation<Dfp>(createVector(unit2[0], unit2[1], unit2[2]),
createAngle(random.nextDouble()));