diff --git a/benches/common/macros.rs b/benches/common/macros.rs
index 55d6ba3c..758336a8 100644
--- a/benches/common/macros.rs
+++ b/benches/common/macros.rs
@@ -4,7 +4,8 @@ macro_rules! bench_binop(
     ($name: ident, $t1: ty, $t2: ty, $binop: ident) => {
         #[bench]
         fn $name(bh: &mut Bencher) {
-            let mut rng = IsaacRng::new_unseeded();
+            use rand::SeedableRng;
+            let mut rng = IsaacRng::seed_from_u64(0);
             let a = rng.gen::<$t1>();
             let b = rng.gen::<$t2>();
 
@@ -19,7 +20,8 @@ macro_rules! bench_binop_ref(
     ($name: ident, $t1: ty, $t2: ty, $binop: ident) => {
         #[bench]
         fn $name(bh: &mut Bencher) {
-            let mut rng = IsaacRng::new_unseeded();
+            use rand::SeedableRng;
+            let mut rng = IsaacRng::seed_from_u64(0);
             let a = rng.gen::<$t1>();
             let b = rng.gen::<$t2>();
 
@@ -34,7 +36,8 @@ macro_rules! bench_binop_fn(
     ($name: ident, $t1: ty, $t2: ty, $binop: path) => {
         #[bench]
         fn $name(bh: &mut Bencher) {
-            let mut rng = IsaacRng::new_unseeded();
+            use rand::SeedableRng;
+            let mut rng = IsaacRng::seed_from_u64(0);
             let a = rng.gen::<$t1>();
             let b = rng.gen::<$t2>();
 
@@ -51,7 +54,8 @@ macro_rules! bench_unop_na(
         fn $name(bh: &mut Bencher) {
             const LEN: usize = 1 << 13;
 
-            let mut rng = IsaacRng::new_unseeded();
+            use rand::SeedableRng;
+            let mut rng = IsaacRng::seed_from_u64(0);
 
             let elems: Vec<$t> =  (0usize .. LEN).map(|_| rng.gen::<$t>()).collect();
             let mut i = 0;
@@ -73,7 +77,8 @@ macro_rules! bench_unop(
         fn $name(bh: &mut Bencher) {
             const LEN: usize = 1 << 13;
 
-            let mut rng = IsaacRng::new_unseeded();
+            use rand::SeedableRng;
+            let mut rng = IsaacRng::seed_from_u64(0);
 
             let mut elems: Vec<$t> =  (0usize .. LEN).map(|_| rng.gen::<$t>()).collect();
             let mut i = 0;
@@ -95,7 +100,8 @@ macro_rules! bench_construction(
         fn $name(bh: &mut Bencher) {
             const LEN: usize = 1 << 13;
 
-            let mut rng = IsaacRng::new_unseeded();
+            use rand::SeedableRng;
+            let mut rng = IsaacRng::seed_from_u64(0);
 
             $(let $args: Vec<$types> = (0usize .. LEN).map(|_| rng.gen::<$types>()).collect();)*
             let mut i = 0;
diff --git a/benches/core/vector.rs b/benches/core/vector.rs
index 35e25e2d..837eb7ca 100644
--- a/benches/core/vector.rs
+++ b/benches/core/vector.rs
@@ -50,7 +50,8 @@ bench_binop_ref!(vec10000_dot_f32, VectorN<f32, U10000>, VectorN<f32, U10000>, d
 
 #[bench]
 fn vec10000_axpy_f64(bh: &mut Bencher) {
-    let mut rng = IsaacRng::new_unseeded();
+    use rand::SeedableRng;
+    let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = DVector::new_random(10000);
     let b = DVector::new_random(10000);
     let n = rng.gen::<f64>();
@@ -60,7 +61,8 @@ fn vec10000_axpy_f64(bh: &mut Bencher) {
 
 #[bench]
 fn vec10000_axpy_beta_f64(bh: &mut Bencher) {
-    let mut rng = IsaacRng::new_unseeded();
+    use rand::SeedableRng;
+    let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = DVector::new_random(10000);
     let b = DVector::new_random(10000);
     let n = rng.gen::<f64>();
@@ -71,7 +73,8 @@ fn vec10000_axpy_beta_f64(bh: &mut Bencher) {
 
 #[bench]
 fn vec10000_axpy_f64_slice(bh: &mut Bencher) {
-    let mut rng = IsaacRng::new_unseeded();
+    use rand::SeedableRng;
+    let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = DVector::new_random(10000);
     let b = DVector::new_random(10000);
     let n = rng.gen::<f64>();
@@ -86,7 +89,8 @@ fn vec10000_axpy_f64_slice(bh: &mut Bencher) {
 
 #[bench]
 fn vec10000_axpy_f64_static(bh: &mut Bencher) {
-    let mut rng = IsaacRng::new_unseeded();
+    use rand::SeedableRng;
+    let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = VectorN::<f64, U10000>::new_random();
     let b = VectorN::<f64, U10000>::new_random();
     let n = rng.gen::<f64>();
@@ -97,7 +101,8 @@ fn vec10000_axpy_f64_static(bh: &mut Bencher) {
 
 #[bench]
 fn vec10000_axpy_f32(bh: &mut Bencher) {
-    let mut rng = IsaacRng::new_unseeded();
+    use rand::SeedableRng;
+    let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = DVector::new_random(10000);
     let b = DVector::new_random(10000);
     let n = rng.gen::<f32>();
@@ -107,7 +112,8 @@ fn vec10000_axpy_f32(bh: &mut Bencher) {
 
 #[bench]
 fn vec10000_axpy_beta_f32(bh: &mut Bencher) {
-    let mut rng = IsaacRng::new_unseeded();
+    use rand::SeedableRng;
+    let mut rng = IsaacRng::seed_from_u64(0);
     let mut a = DVector::new_random(10000);
     let b = DVector::new_random(10000);
     let n = rng.gen::<f32>();
diff --git a/benches/lib.rs b/benches/lib.rs
index 1ad3a2be..f788c998 100644
--- a/benches/lib.rs
+++ b/benches/lib.rs
@@ -14,6 +14,7 @@ mod geometry;
 mod linalg;
 
 fn reproductible_dmatrix(nrows: usize, ncols: usize) -> DMatrix<f64> {
-    let mut rng = IsaacRng::new_unseeded();
+    use rand::SeedableRng;
+    let mut rng = IsaacRng::seed_from_u64(0);
     DMatrix::<f64>::from_fn(nrows, ncols, |_, _| rng.gen())
 }
diff --git a/examples/transform_matrix4.rs b/examples/transform_matrix4.rs
index c877206e..a9e6cd6e 100644
--- a/examples/transform_matrix4.rs
+++ b/examples/transform_matrix4.rs
@@ -3,7 +3,6 @@ extern crate alga;
 extern crate approx;
 extern crate nalgebra as na;
 
-use alga::linear::Transformation;
 use na::{Matrix4, Point3, Vector3};
 
 fn main() {
diff --git a/examples/transform_vector_point3.rs b/examples/transform_vector_point3.rs
index cd36cad1..57a189cc 100644
--- a/examples/transform_vector_point3.rs
+++ b/examples/transform_vector_point3.rs
@@ -1,7 +1,6 @@
 extern crate alga;
 extern crate nalgebra as na;
 
-use alga::linear::Transformation;
 use na::{Matrix4, Point3, Vector3, Vector4};
 
 fn main() {
diff --git a/nalgebra-glm/src/ext/matrix_clip_space.rs b/nalgebra-glm/src/ext/matrix_clip_space.rs
index 15395787..02179759 100644
--- a/nalgebra-glm/src/ext/matrix_clip_space.rs
+++ b/nalgebra-glm/src/ext/matrix_clip_space.rs
@@ -282,7 +282,6 @@ pub fn perspective_fov_lh_no<N: Real>(fov: N, width: N, height: N, near: N, far:
         "The fov must be greater than zero"
     );
 
-    let zero = N::zero();
     let mut mat = TMat4::zeros();
 
     let rad = fov;
@@ -522,7 +521,6 @@ pub fn perspective_lh_no<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<
         "The apsect ratio must not be zero."
     );
 
-    let zero = N::zero();
     let one = N::one();
     let two: N = ::convert( 2.0);
     let mut mat : TMat4<N> = TMat4::zeros();
@@ -559,7 +557,6 @@ pub fn perspective_lh_zo<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<
         "The apsect ratio must not be zero."
     );
 
-    let zero = N::zero();
     let one = N::one();
     let two: N = ::convert( 2.0);
     let mut mat: TMat4<N> = TMat4::zeros();
@@ -664,7 +661,6 @@ pub fn perspective_rh_zo<N: Real>(aspect: N, fovy: N, near: N, far: N) -> TMat4<
     );
 
     let negone = -N::one();
-    let zero =  N::zero();
     let one =  N::one();
     let two =   ::convert( 2.0);
     let mut mat = TMat4::zeros();
diff --git a/nalgebra-glm/src/ext/quaternion_common.rs b/nalgebra-glm/src/ext/quaternion_common.rs
index 208601ed..3a91d0c7 100644
--- a/nalgebra-glm/src/ext/quaternion_common.rs
+++ b/nalgebra-glm/src/ext/quaternion_common.rs
@@ -33,5 +33,5 @@ pub fn quat_lerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
 pub fn quat_slerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     Unit::new_normalize(*x)
         .slerp(&Unit::new_normalize(*y), a)
-        .unwrap()
+        .into_inner()
 }
diff --git a/nalgebra-glm/src/ext/quaternion_transform.rs b/nalgebra-glm/src/ext/quaternion_transform.rs
index a1459269..a4a60210 100644
--- a/nalgebra-glm/src/ext/quaternion_transform.rs
+++ b/nalgebra-glm/src/ext/quaternion_transform.rs
@@ -19,7 +19,7 @@ pub fn quat_pow<N: Real>(q: &Qua<N>, y: N) -> Qua<N> {
 
 /// Builds a quaternion from an axis and an angle, and right-multiply it to the quaternion `q`.
 pub fn quat_rotate<N: Real>(q: &Qua<N>, angle: N, axis: &TVec3<N>) -> Qua<N> {
-    q * UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).unwrap()
+    q * UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).into_inner()
 }
 
 //pub fn quat_sqrt<N: Real>(q: &Qua<N>) -> Qua<N> {
diff --git a/nalgebra-glm/src/ext/quaternion_trigonometric.rs b/nalgebra-glm/src/ext/quaternion_trigonometric.rs
index 6e9be030..762bd9e9 100644
--- a/nalgebra-glm/src/ext/quaternion_trigonometric.rs
+++ b/nalgebra-glm/src/ext/quaternion_trigonometric.rs
@@ -9,13 +9,13 @@ pub fn quat_angle<N: Real>(x: &Qua<N>) -> N {
 
 /// Creates a quaternion from an axis and an angle.
 pub fn quat_angle_axis<N: Real>(angle: N, axis: &TVec3<N>) -> Qua<N> {
-    UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).unwrap()
+    UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).into_inner()
 }
 
 /// The rotation axis of a quaternion assumed to be normalized.
 pub fn quat_axis<N: Real>(x: &Qua<N>) -> TVec3<N> {
     if let Some(a) = UnitQuaternion::from_quaternion(*x).axis() {
-        a.unwrap()
+        a.into_inner()
     } else {
         TVec3::zeros()
     }
diff --git a/nalgebra-glm/src/gtc/quaternion.rs b/nalgebra-glm/src/gtc/quaternion.rs
index 61501776..d31a0bcb 100644
--- a/nalgebra-glm/src/gtc/quaternion.rs
+++ b/nalgebra-glm/src/gtc/quaternion.rs
@@ -47,12 +47,12 @@ pub fn quat_look_at<N: Real>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua<N> {
 
 /// Computes a left-handed look-at quaternion (equivalent to a left-handed look-at matrix).
 pub fn quat_look_at_lh<N: Real>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua<N> {
-    UnitQuaternion::look_at_lh(direction, up).unwrap()
+    UnitQuaternion::look_at_lh(direction, up).into_inner()
 }
 
 /// Computes a right-handed look-at quaternion (equivalent to a right-handed look-at matrix).
 pub fn quat_look_at_rh<N: Real>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua<N> {
-    UnitQuaternion::look_at_rh(direction, up).unwrap()
+    UnitQuaternion::look_at_rh(direction, up).into_inner()
 }
 
 /// The "roll" Euler angle of the quaternion `x` assumed to be normalized.
diff --git a/nalgebra-glm/src/gtx/quaternion.rs b/nalgebra-glm/src/gtx/quaternion.rs
index 5762b58d..70005ca8 100644
--- a/nalgebra-glm/src/gtx/quaternion.rs
+++ b/nalgebra-glm/src/gtx/quaternion.rs
@@ -21,7 +21,7 @@ pub fn quat_extract_real_component<N: Real>(q: &Qua<N>) -> N {
 pub fn quat_fast_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     Unit::new_unchecked(*x)
         .nlerp(&Unit::new_unchecked(*y), a)
-        .unwrap()
+        .into_inner()
 }
 
 //pub fn quat_intermediate<N: Real>(prev: &Qua<N>, curr: &Qua<N>, next: &Qua<N>) -> Qua<N> {
@@ -40,7 +40,7 @@ pub fn quat_magnitude2<N: Real>(q: &Qua<N>) -> N {
 
 /// The quaternion representing the identity rotation.
 pub fn quat_identity<N: Real>() -> Qua<N> {
-    UnitQuaternion::identity().unwrap()
+    UnitQuaternion::identity().into_inner()
 }
 
 /// Rotates a vector by a quaternion assumed to be normalized.
@@ -58,14 +58,14 @@ pub fn quat_rotate_vec<N: Real>(q: &Qua<N>, v: &TVec4<N>) -> TVec4<N> {
 pub fn quat_rotation<N: Real>(orig: &TVec3<N>, dest: &TVec3<N>) -> Qua<N> {
     UnitQuaternion::rotation_between(orig, dest)
         .unwrap_or_else(UnitQuaternion::identity)
-        .unwrap()
+        .into_inner()
 }
 
 /// The spherical linear interpolation between two quaternions.
 pub fn quat_short_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     Unit::new_normalize(*x)
         .slerp(&Unit::new_normalize(*y), a)
-        .unwrap()
+        .into_inner()
 }
 
 //pub fn quat_squad<N: Real>(q1: &Qua<N>, q2: &Qua<N>, s1: &Qua<N>, s2: &Qua<N>, h: N) -> Qua<N> {
@@ -76,7 +76,7 @@ pub fn quat_short_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
 pub fn quat_to_mat3<N: Real>(x: &Qua<N>) -> TMat3<N> {
     UnitQuaternion::new_unchecked(*x)
         .to_rotation_matrix()
-        .unwrap()
+        .into_inner()
 }
 
 /// Converts a quaternion to a rotation matrix in homogenous coordinates.
@@ -87,7 +87,7 @@ pub fn quat_to_mat4<N: Real>(x: &Qua<N>) -> TMat4<N> {
 /// Converts a rotation matrix to a quaternion.
 pub fn mat3_to_quat<N: Real>(x: &TMat3<N>) -> Qua<N> {
     let r = Rotation3::from_matrix_unchecked(*x);
-    UnitQuaternion::from_rotation_matrix(&r).unwrap()
+    UnitQuaternion::from_rotation_matrix(&r).into_inner()
 }
 
 /// Converts a rotation matrix in homogeneous coordinates to a quaternion.
diff --git a/nalgebra-glm/src/gtx/rotate_normalized_axis.rs b/nalgebra-glm/src/gtx/rotate_normalized_axis.rs
index 1ac9a7dc..224d7bfe 100644
--- a/nalgebra-glm/src/gtx/rotate_normalized_axis.rs
+++ b/nalgebra-glm/src/gtx/rotate_normalized_axis.rs
@@ -21,5 +21,5 @@ pub fn rotate_normalized_axis<N: Real>(m: &TMat4<N>, angle: N, axis: &TVec3<N>)
 /// * `angle` - Angle expressed in radians.
 /// * `axis` - Normalized axis of the rotation, must be normalized.
 pub fn quat_rotate_normalized_axis<N: Real>(q: &Qua<N>, angle: N, axis: &TVec3<N>) -> Qua<N> {
-    q * UnitQuaternion::from_axis_angle(&Unit::new_unchecked(*axis), angle).unwrap()
+    q * UnitQuaternion::from_axis_angle(&Unit::new_unchecked(*axis), angle).into_inner()
 }
diff --git a/nalgebra-glm/src/gtx/rotate_vector.rs b/nalgebra-glm/src/gtx/rotate_vector.rs
index 0855244d..64ce7244 100644
--- a/nalgebra-glm/src/gtx/rotate_vector.rs
+++ b/nalgebra-glm/src/gtx/rotate_vector.rs
@@ -60,5 +60,5 @@ pub fn rotate_z_vec4<N: Real>(v: &TVec4<N>, angle: N) -> TVec4<N> {
 pub fn slerp<N: Real>(x: &TVec3<N>, y: &TVec3<N>, a: N) -> TVec3<N> {
     Unit::new_unchecked(*x)
         .slerp(&Unit::new_unchecked(*y), a)
-        .unwrap()
+        .into_inner()
 }
diff --git a/nalgebra-glm/tests/lib.rs b/nalgebra-glm/tests/lib.rs
index 88ec1a44..0e76300c 100644
--- a/nalgebra-glm/tests/lib.rs
+++ b/nalgebra-glm/tests/lib.rs
@@ -9,7 +9,7 @@ use glm::Vec4;
 #[test]
 pub fn orthographic_glm_nalgebra_same()
 {
-    let na_mat : Mat4 = Orthographic3::new(-100.0f32,100.0f32, -50.0f32, 50.0f32, 0.1f32, 100.0f32).unwrap();
+    let na_mat : Mat4 = Orthographic3::new(-100.0f32,100.0f32, -50.0f32, 50.0f32, 0.1f32, 100.0f32).into_inner();
     let gl_mat : Mat4 = glm::ortho(-100.0f32,100.0f32, -50.0f32, 50.0f32, 0.1f32, 100.0f32);
 
     assert_eq!(na_mat, gl_mat);
@@ -18,7 +18,7 @@ pub fn orthographic_glm_nalgebra_same()
 #[test]
 pub fn perspective_glm_nalgebra_same()
 {
-    let na_mat : Mat4 = Perspective3::new(16.0f32/9.0f32, 3.14f32/2.0f32, 0.1f32, 100.0f32).unwrap();
+    let na_mat : Mat4 = Perspective3::new(16.0f32/9.0f32, 3.14f32/2.0f32, 0.1f32, 100.0f32).into_inner();
     let gl_mat : Mat4 = glm::perspective(16.0f32/9.0f32, 3.14f32/2.0f32, 0.1f32, 100.0f32);
 
     assert_eq!(na_mat, gl_mat);
@@ -29,7 +29,7 @@ pub fn orthographic_glm_nalgebra_project_same()
 {
     let point = Vec4::new(1.0,0.0,-20.0,1.0);
 
-    let na_mat : Mat4 = Orthographic3::new(-100.0f32,100.0f32, -50.0f32, 50.0f32, 0.1f32, 100.0f32).unwrap();
+    let na_mat : Mat4 = Orthographic3::new(-100.0f32,100.0f32, -50.0f32, 50.0f32, 0.1f32, 100.0f32).into_inner();
     let gl_mat : Mat4 = glm::ortho(-100.0f32,100.0f32, -50.0f32, 50.0f32, 0.1f32, 100.0f32);
 
     let na_pt = na_mat * point;
@@ -44,7 +44,7 @@ pub fn perspective_glm_nalgebra_project_same()
 {
     let point = Vec4::new(1.0,0.0,-20.0,1.0);
 
-    let na_mat : Mat4 = Perspective3::new(16.0f32/9.0f32, 3.14f32/2.0f32, 0.1f32, 100.0f32).unwrap();
+    let na_mat : Mat4 = Perspective3::new(16.0f32/9.0f32, 3.14f32/2.0f32, 0.1f32, 100.0f32).into_inner();
     let gl_mat : Mat4 = glm::perspective(16.0f32/9.0f32, 3.14f32/2.0f32, 0.1f32, 100.0f32);
 
     let na_pt = na_mat * point;
diff --git a/src/geometry/unit_complex_construction.rs b/src/geometry/unit_complex_construction.rs
index d8917e41..fa4a0451 100644
--- a/src/geometry/unit_complex_construction.rs
+++ b/src/geometry/unit_complex_construction.rs
@@ -7,10 +7,9 @@ use rand::distributions::{Distribution, OpenClosed01, Standard};
 use rand::Rng;
 
 use alga::general::Real;
-use base::allocator::Allocator;
 use base::dimension::{U1, U2};
 use base::storage::Storage;
-use base::{DefaultAllocator, Unit, Vector};
+use base::{Unit, Vector};
 use geometry::{Rotation2, UnitComplex};
 
 impl<N: Real> UnitComplex<N> {
diff --git a/tests/geometry/quaternion.rs b/tests/geometry/quaternion.rs
index c5b91554..4dd3da62 100644
--- a/tests/geometry/quaternion.rs
+++ b/tests/geometry/quaternion.rs
@@ -26,9 +26,9 @@ quickcheck!(
         relative_eq!(yaw * pitch * roll, rpy, epsilon = 1.0e-7)
     }
 
-    fn to_euler_angles(r: f64, p: f64, y: f64) -> bool {
+    fn euler_angles(r: f64, p: f64, y: f64) -> bool {
         let rpy = UnitQuaternion::from_euler_angles(r, p, y);
-        let (roll, pitch, yaw) = rpy.to_euler_angles();
+        let (roll, pitch, yaw) = rpy.euler_angles();
         relative_eq!(UnitQuaternion::from_euler_angles(roll, pitch, yaw), rpy, epsilon = 1.0e-7)
     }
 
diff --git a/tests/geometry/rotation.rs b/tests/geometry/rotation.rs
index 57aac964..e4b1f9d7 100644
--- a/tests/geometry/rotation.rs
+++ b/tests/geometry/rotation.rs
@@ -17,7 +17,7 @@ fn angle_3() {
 }
 
 #[test]
-fn quaternion_to_euler_angles_issue_494() {
+fn quaternion_euler_angles_issue_494() {
     let quat = UnitQuaternion::from_quaternion(Quaternion::new(
         -0.10405792,
         -0.6993922f32,
@@ -55,17 +55,17 @@ mod quickcheck_tests {
             yaw * pitch * roll == rpy
         }
 
-        fn to_euler_angles(r: f64, p: f64, y: f64) -> bool {
+        fn euler_angles(r: f64, p: f64, y: f64) -> bool {
             let rpy = Rotation3::from_euler_angles(r, p, y);
-            let (roll, pitch, yaw) = rpy.to_euler_angles();
+            let (roll, pitch, yaw) = rpy.euler_angles();
             relative_eq!(Rotation3::from_euler_angles(roll, pitch, yaw), rpy, epsilon = 1.0e-7)
         }
 
-        fn to_euler_angles_gimble_lock(r: f64, y: f64) -> bool {
+        fn euler_angles_gimble_lock(r: f64, y: f64) -> bool {
             let pos = Rotation3::from_euler_angles(r,  f64::frac_pi_2(), y);
             let neg = Rotation3::from_euler_angles(r, -f64::frac_pi_2(), y);
-            let (pos_r, pos_p, pos_y) = pos.to_euler_angles();
-            let (neg_r, neg_p, neg_y) = neg.to_euler_angles();
+            let (pos_r, pos_p, pos_y) = pos.euler_angles();
+            let (neg_r, neg_p, neg_y) = neg.euler_angles();
             relative_eq!(Rotation3::from_euler_angles(pos_r, pos_p, pos_y), pos, epsilon = 1.0e-7) &&
             relative_eq!(Rotation3::from_euler_angles(neg_r, neg_p, neg_y), neg, epsilon = 1.0e-7)
         }