code: def exp(self):
          
          
          # Init
          vecNorm = self.x**2 + self.y**2 + self.z**2
          wPart = np.exp(self.w)        
          q = Quaternion()
          
          # Calculate
          q.w = wPart * np.cos(vecNorm)
          q.x = wPart * self.x * np.sin(vecNorm) / vecNorm
          q.y = wPart * self.y * np.sin(vecNorm) / vecNorm
          q.z = wPart * self.z * np.sin(vecNorm) / vecNorm
          
          return q
docs: Returns the exponent of the quaternion. 
          (not tested)