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Fix tolerance for ubuntu quaternion cases

release/4.3a0
Frank Dellaert 2024-08-26 15:08:04 -07:00
parent bfa967c2bc
commit 475b37f7d6
2 changed files with 7 additions and 7 deletions
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2
gtsam/geometry/tests/testPose3.cpp
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@ -1223,7 +1223,7 @@ TEST(Pose3, ExpmapChainRule) {
// Test the derivatives at zero // Test the derivatives at zero
const Matrix6 expected = numericalDerivative11<Pose3, Vector6>(g, Z_6x1); const Matrix6 expected = numericalDerivative11<Pose3, Vector6>(g, Z_6x1);
EXPECT(assert_equal<Matrix6>(expected, M)); // Pose3::ExpmapDerivative(Z_6x1) is identity EXPECT(assert_equal<Matrix6>(expected, M, 1e-5)); // Pose3::ExpmapDerivative(Z_6x1) is identity
// Test the derivatives at another value // Test the derivatives at another value
const Vector6 delta{0.1, 0.2, 0.3, 0.4, 0.5, 0.6}; const Vector6 delta{0.1, 0.2, 0.3, 0.4, 0.5, 0.6};

12
gtsam/geometry/tests/testRot3.cpp
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@ -958,7 +958,7 @@ TEST(Rot3, determinant) {
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Rot3, ExpmapChainRule) { TEST(Rot3, ExpmapChainRule) {
// Muliply with an arbitrary matrix and exponentiate // Multiply with an arbitrary matrix and exponentiate
Matrix3 M; Matrix3 M;
M << 1, 2, 3, 4, 5, 6, 7, 8, 9; M << 1, 2, 3, 4, 5, 6, 7, 8, 9;
auto g = [&](const Vector3& omega) { auto g = [&](const Vector3& omega) {
@ -967,17 +967,17 @@ TEST(Rot3, ExpmapChainRule) {
// Test the derivatives at zero // Test the derivatives at zero
const Matrix3 expected = numericalDerivative11<Rot3, Vector3>(g, Z_3x1); const Matrix3 expected = numericalDerivative11<Rot3, Vector3>(g, Z_3x1);
EXPECT(assert_equal<Matrix3>(expected, M)); // SO3::ExpmapDerivative(Z_3x1) is identity EXPECT(assert_equal<Matrix3>(expected, M, 1e-5)); // SO3::ExpmapDerivative(Z_3x1) is identity
// Test the derivatives at another value // Test the derivatives at another value
const Vector3 delta{0.1,0.2,0.3}; const Vector3 delta{0.1,0.2,0.3};
const Matrix3 expected2 = numericalDerivative11<Rot3, Vector3>(g, delta); const Matrix3 expected2 = numericalDerivative11<Rot3, Vector3>(g, delta);
EXPECT(assert_equal<Matrix3>(expected2, SO3::ExpmapDerivative(M*delta) * M)); EXPECT(assert_equal<Matrix3>(expected2, SO3::ExpmapDerivative(M*delta) * M, 1e-5));
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Rot3, expmapChainRule) { 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 // Perhaps counter-intuitively, this has the same derivatives as above
Matrix3 M; Matrix3 M;
M << 1, 2, 3, 4, 5, 6, 7, 8, 9; M << 1, 2, 3, 4, 5, 6, 7, 8, 9;
@ -988,12 +988,12 @@ TEST(Rot3, expmapChainRule) {
// Test the derivatives at zero // Test the derivatives at zero
const Matrix3 expected = numericalDerivative11<Rot3, Vector3>(g, Z_3x1); const Matrix3 expected = numericalDerivative11<Rot3, Vector3>(g, Z_3x1);
EXPECT(assert_equal<Matrix3>(expected, M)); EXPECT(assert_equal<Matrix3>(expected, M, 1e-5));
// Test the derivatives at another value // Test the derivatives at another value
const Vector3 delta{0.1,0.2,0.3}; const Vector3 delta{0.1,0.2,0.3};
const Matrix3 expected2 = numericalDerivative11<Rot3, Vector3>(g, delta); const Matrix3 expected2 = numericalDerivative11<Rot3, Vector3>(g, delta);
EXPECT(assert_equal<Matrix3>(expected2, SO3::ExpmapDerivative(M*delta) * M)); EXPECT(assert_equal<Matrix3>(expected2, SO3::ExpmapDerivative(M*delta) * M, 1e-5));
} }
/* ************************************************************************* */ /* ************************************************************************* */