Fixed formatting. Made traivs more verbose.

test/attitude.cpp

@@ -51,7 +51,7 @@ int main()
     // quat normalization
     q.normalize();
     TEST(isEqual(q, Quatf(0.18257419f,  0.36514837f,
-                      0.54772256f,  0.73029674f)));
+                          0.54772256f,  0.73029674f)));
 
     // quat default ctor
     q = Quatf();

test/helper.cpp

@@ -12,6 +12,12 @@ int main()
     TEST(fabs(wrap_pi(-4.0) - (-4.0 + 2*M_PI)) < 1e-5);
     TEST(fabs(wrap_pi(3.0) - (3.0)) < 1e-3);
     wrap_pi(NAN);
+
+    Vector3f a(1, 2, 3);
+    Vector3f b(4, 5, 6);
+    a.T().print();
+    TEST(!isEqual(a, b));
+    TEST(isEqual(a, a));
     return 0;
 }