12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Added flag for absolute error

release/4.3a0
Varun Agrawal 2020-11-03 12:11:17 -05:00
parent 2fc87858ce
commit 51b6fd0b43
4 changed files with 10 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/base/Matrix.h
View File

@ -90,7 +90,7 @@ bool equal_with_abs_tol(const Eigen::DenseBase<MATRIX>& A, const Eigen::DenseBas
for(size_t i=0; i<m1; i++)
for(size_t j=0; j<n1; j++) {
if(!fpEqual(A(i,j), B(i,j), tol)) {
if(!fpEqual(A(i,j), B(i,j), tol, true)) {
return false;
}
}

6
gtsam/base/Vector.cpp
View File

@ -39,7 +39,7 @@ namespace gtsam {
* 1. https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/
* 2. https://floating-point-gui.de/errors/comparison/
* ************************************************************************* */
bool fpEqual(double a, double b, double tol) {
bool fpEqual(double a, double b, double tol, bool absolute) {
using std::abs;
using std::isnan;
using std::isinf;
@ -66,7 +66,9 @@ bool fpEqual(double a, double b, double tol) {
return true;
}
// Use relative error
else if(abs(a-b) <= tol * min(larger, std::numeric_limits<double>::max())) {
else if (abs(a - b) <=
tol * min(larger, std::numeric_limits<double>::max()) &&
!absolute) {
return true;
}

3
gtsam/base/Vector.h
View File

@ -87,7 +87,8 @@ static_assert(
*
* Return true if two numbers are close wrt tol.
*/
GTSAM_EXPORT bool fpEqual(double a, double b, double tol);
GTSAM_EXPORT bool fpEqual(double a, double b, double tol,
bool absolute = false);
/**
* print without optional string, must specify cout yourself

6
gtsam/geometry/tests/testRot3.cpp
View File

@ -807,15 +807,15 @@ TEST(Rot3, RQ_derivative) {
test_xyz.push_back(VecAndErr{{0, 0, 0}, error});
test_xyz.push_back(VecAndErr{{0, 0.5, -0.5}, error});
test_xyz.push_back(VecAndErr{{0.3, 0, 0.2}, error});
test_xyz.push_back(VecAndErr{{-0.6, 1.3, 0}, error});
test_xyz.push_back(VecAndErr{{-0.6, 1.3, 0}, 1e-8});
test_xyz.push_back(VecAndErr{{1.0, 0.7, 0.8}, error});
test_xyz.push_back(VecAndErr{{3.0, 0.7, -0.6}, error});
test_xyz.push_back(VecAndErr{{M_PI / 2, 0, 0}, error});
test_xyz.push_back(VecAndErr{{0, 0, M_PI / 2}, error});
// Test close to singularity
test_xyz.push_back(VecAndErr{{0, M_PI / 2 - 1e-1, 0}, 1e-8});
test_xyz.push_back(VecAndErr{{0, 3 * M_PI / 2 + 1e-1, 0}, 1e-8});
test_xyz.push_back(VecAndErr{{0, M_PI / 2 - 1e-1, 0}, 1e-7});
test_xyz.push_back(VecAndErr{{0, 3 * M_PI / 2 + 1e-1, 0}, 1e-7});
test_xyz.push_back(VecAndErr{{0, M_PI / 2 - 1.1e-2, 0}, 1e-4});
test_xyz.push_back(VecAndErr{{0, 3 * M_PI / 2 + 1.1e-2, 0}, 1e-4});