def METHOD_NAME(self, angle):
    signal = np.random.normal(scale=1000, size=(500, 3))
    rot_signal = rotation_from_angle(np.array([0, 0, 1]), np.deg2rad(angle)).apply(signal)
    noise = np.random.normal(scale=5, size=(500, 3))
    rot = align_heading_of_sensors(signal, rot_signal + noise)
    rotvec = rot.as_rotvec()
    angle_error = ((np.rad2deg(norm(rotvec)) * np.sign(rotvec[-1]) - -angle) + 180) % 360 - 180
    # Allow error of 2 deg
    assert np.abs(angle_error) < 2.0
    assert_almost_equal(np.abs(rotvec / norm(rotvec) @ [0, 0, 1]), 1, 3)