From bc1104c8076beaa29824eeeb6fb40e9d511a47ac Mon Sep 17 00:00:00 2001 From: Gerry Chen Date: Sat, 16 Oct 2021 11:20:55 -0400 Subject: [PATCH] Revert "stricter tolerances" This reverts commit 761987a14ced11637d31efc43a3d81250eea0c0a. --- gtsam/geometry/tests/testPose3.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index 4ea3519d2..f0f2c0ccd 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -204,19 +204,19 @@ TEST(Pose3, AdjointTranspose) T.AdjointTranspose(xi, actualH1, actualH2); expectedH1 = numericalDerivative21(AdjointTranspose_proxy, T, xi); expectedH2 = numericalDerivative22(AdjointTranspose_proxy, T, xi); - EXPECT(assert_equal(expectedH1, actualH1)); + EXPECT(assert_equal(expectedH1, actualH1, 1e-8)); EXPECT(assert_equal(expectedH2, actualH2)); T2.AdjointTranspose(xi, actualH1, actualH2); expectedH1 = numericalDerivative21(AdjointTranspose_proxy, T2, xi); expectedH2 = numericalDerivative22(AdjointTranspose_proxy, T2, xi); - EXPECT(assert_equal(expectedH1, actualH1)); + EXPECT(assert_equal(expectedH1, actualH1, 1e-8)); EXPECT(assert_equal(expectedH2, actualH2)); T3.AdjointTranspose(xi, actualH1, actualH2); expectedH1 = numericalDerivative21(AdjointTranspose_proxy, T3, xi); expectedH2 = numericalDerivative22(AdjointTranspose_proxy, T3, xi); - EXPECT(assert_equal(expectedH1, actualH1)); + EXPECT(assert_equal(expectedH1, actualH1, 1e-8)); EXPECT(assert_equal(expectedH2, actualH2)); }