diff --git a/src/quaternion.hh b/src/quaternion.hh
index 58aa4722e2d804b9bcb8bc1b704574778db24cad..722d96ee1eac054e1784288aaf0c04d36d750ab5 100644
--- a/src/quaternion.hh
+++ b/src/quaternion.hh
@@ -53,6 +53,12 @@ public:
         return id;
     }
 
+    /** \brief The exponential map from \f$ \mathfrak{so}(3) \f$ to \f$ SO(3) \f$
+     */
+    static Quaternion<T> exp(const Dune::FieldVector<T,3>& v) {
+        return exp(v[0], v[1], v[2]);
+    }
+
     /** \brief The exponential map from \f$ \mathfrak{so}(3) \f$ to \f$ SO(3) \f$
      */
     static Quaternion<T> exp(const T& v0, const T& v1, const T& v2) {