From a4e58d06e758b418f4769700aa33a04b09682d26 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 26 Aug 2015 20:19:26 -0700 Subject: [PATCH] Tighter bounds --- gtsam/geometry/tests/testPose3.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index f6f8b7b40..9007ce1bd 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -182,8 +182,8 @@ TEST(Pose3, expmaps_galore_full) xi = (Vector(6) << 0.2, 0.3, -0.8, 100.0, 120.0, -60.0).finished(); actual = Pose3::Expmap(xi); EXPECT(assert_equal(expm(xi,10), actual,1e-5)); - EXPECT(assert_equal(Agrawal06iros(xi), actual,1e-6)); - EXPECT(assert_equal(xi, Pose3::Logmap(actual),1e-6)); + EXPECT(assert_equal(Agrawal06iros(xi), actual,1e-9)); + EXPECT(assert_equal(xi, Pose3::Logmap(actual),1e-9)); } /* ************************************************************************* */