79         CHECK_CLOSE (joint->qrel[0], 1.0, 1e-4);  in SUITE()
80         CHECK_CLOSE (joint->qrel[1], 0.0, 1e-4);  in SUITE()
81         CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);  in SUITE()
82         CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);  in SUITE()
91         CHECK_CLOSE (joint->qrel[0], 0.70710678118654757, 1e-4);  in SUITE()
92         CHECK_CLOSE (joint->qrel[1], 0.70710678118654757, 1e-4);  in SUITE()
93         CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);  in SUITE()
94         CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);  in SUITE()
103         CHECK_CLOSE (joint->qrel[0], 0.70710678118654757, 1e-4);  in SUITE()
104         CHECK_CLOSE (joint->qrel[1], -0.70710678118654757, 1e-4);  in SUITE()
105         CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);  in SUITE()
106         CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);  in SUITE()
115         CHECK_CLOSE (joint->qrel[0], 0.70710678118654757, 1e-4);  in SUITE()
116         CHECK_CLOSE (joint->qrel[1], 0.0, 1e-4);  in SUITE()
117         CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);  in SUITE()
118         CHECK_CLOSE (joint->qrel[3], 0.70710678118654757, 1e-4);  in SUITE()
127         CHECK_CLOSE (joint->qrel[0], 0.92387953251128674, 1e-4);  in SUITE()
128         CHECK_CLOSE (joint->qrel[1], 0.0, 1e-4);  in SUITE()
129         CHECK_CLOSE (joint->qrel[2], 0.38268343236508984, 1e-4);  in SUITE()
130         CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);  in SUITE()
143         CHECK_CLOSE (joint->qrel[0], -0.25526036263124319, 1e-4);  in SUITE()
144         CHECK_CLOSE (joint->qrel[1],  0.28434861188441968, 1e-4);  in SUITE()
145         CHECK_CLOSE (joint->qrel[2], -0.65308047160141625, 1e-4);  in SUITE()
146         CHECK_CLOSE (joint->qrel[3],  0.65381489108282143, 1e-4);  in SUITE()