From 475b37f7d6aacf86e9624dd8ae97475396f581f0 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 26 Aug 2024 15:08:04 -0700 Subject: [PATCH] Fix tolerance for ubuntu quaternion cases --- gtsam/geometry/tests/testPose3.cpp | 2 +- gtsam/geometry/tests/testRot3.cpp | 12 ++++++------ 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index 065d43bf9..c9851f761 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -1223,7 +1223,7 @@ TEST(Pose3, ExpmapChainRule) { // Test the derivatives at zero const Matrix6 expected = numericalDerivative11(g, Z_6x1); - EXPECT(assert_equal(expected, M)); // Pose3::ExpmapDerivative(Z_6x1) is identity + EXPECT(assert_equal(expected, M, 1e-5)); // Pose3::ExpmapDerivative(Z_6x1) is identity // Test the derivatives at another value const Vector6 delta{0.1, 0.2, 0.3, 0.4, 0.5, 0.6}; diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp index 9555a2445..ce056edb6 100644 --- a/gtsam/geometry/tests/testRot3.cpp +++ b/gtsam/geometry/tests/testRot3.cpp @@ -958,7 +958,7 @@ TEST(Rot3, determinant) { /* ************************************************************************* */ TEST(Rot3, ExpmapChainRule) { - // Muliply with an arbitrary matrix and exponentiate + // Multiply with an arbitrary matrix and exponentiate Matrix3 M; M << 1, 2, 3, 4, 5, 6, 7, 8, 9; auto g = [&](const Vector3& omega) { @@ -967,17 +967,17 @@ TEST(Rot3, ExpmapChainRule) { // Test the derivatives at zero const Matrix3 expected = numericalDerivative11(g, Z_3x1); - EXPECT(assert_equal(expected, M)); // SO3::ExpmapDerivative(Z_3x1) is identity + EXPECT(assert_equal(expected, M, 1e-5)); // SO3::ExpmapDerivative(Z_3x1) is identity // Test the derivatives at another value const Vector3 delta{0.1,0.2,0.3}; const Matrix3 expected2 = numericalDerivative11(g, delta); - EXPECT(assert_equal(expected2, SO3::ExpmapDerivative(M*delta) * M)); + EXPECT(assert_equal(expected2, SO3::ExpmapDerivative(M*delta) * M, 1e-5)); } /* ************************************************************************* */ TEST(Rot3, expmapChainRule) { - // Muliply an arbitrary rotation with exp(M*x) + // Multiply an arbitrary rotation with exp(M*x) // Perhaps counter-intuitively, this has the same derivatives as above Matrix3 M; M << 1, 2, 3, 4, 5, 6, 7, 8, 9; @@ -988,12 +988,12 @@ TEST(Rot3, expmapChainRule) { // Test the derivatives at zero const Matrix3 expected = numericalDerivative11(g, Z_3x1); - EXPECT(assert_equal(expected, M)); + EXPECT(assert_equal(expected, M, 1e-5)); // Test the derivatives at another value const Vector3 delta{0.1,0.2,0.3}; const Matrix3 expected2 = numericalDerivative11(g, delta); - EXPECT(assert_equal(expected2, SO3::ExpmapDerivative(M*delta) * M)); + EXPECT(assert_equal(expected2, SO3::ExpmapDerivative(M*delta) * M, 1e-5)); } /* ************************************************************************* */