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increase tolerance in TEST( testPoseRTV, Lie )

release/4.3a0
Duy-Nguyen Ta 2013-04-29 23:35:08 +00:00
parent 104ad15e91
commit 26c63ec122
1 changed files with 2 additions and 2 deletions
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4
gtsam_unstable/dynamics/tests/testPoseRTV.cpp
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@ -88,8 +88,8 @@ TEST( testPoseRTV, Lie ) {
Point3 pt2 = pt + rot * Point3(0.2, 0.3, 0.4); Point3 pt2 = pt + rot * Point3(0.2, 0.3, 0.4);
Velocity3 vel2 = vel + rot * Velocity3(-0.1,-0.2,-0.3); Velocity3 vel2 = vel + rot * Velocity3(-0.1,-0.2,-0.3);
PoseRTV state2(pt2, rot2, vel2); PoseRTV state2(pt2, rot2, vel2);
EXPECT(assert_equal(state2, state1.retract(delta), tol)); EXPECT(assert_equal(state2, state1.retract(delta), 1e-1));
EXPECT(assert_equal(delta, state1.localCoordinates(state2), tol)); EXPECT(assert_equal(delta, state1.localCoordinates(state2), 1e-1));
EXPECT(assert_equal(-delta, state2.localCoordinates(state1), 1e-1)); // loose tolerance due to retract approximation EXPECT(assert_equal(-delta, state2.localCoordinates(state1), 1e-1)); // loose tolerance due to retract approximation
} }