public void testVectorOnePair() {
Vector3D u = new Vector3D(3, 2, 1);
Vector3D v = new Vector3D(-4, 2, 2);
Rotation r = new Rotation(u, v);
checkVector(r.applyTo(u.scalarMultiply(v.getNorm())), v.scalarMultiply(u.getNorm()));
checkAngle(new Rotation(u, u.negate()).getAngle(), FastMath.PI);
try {
new Rotation(u, Vector3D.ZERO);