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Revert "stricter tolerances" 

This reverts commit 761987a14c.
release/4.3a0
Gerry Chen 2021-10-16 11:20:55 -04:00
parent 761987a14c
commit bc1104c807
1 changed files with 3 additions and 3 deletions
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6
gtsam/geometry/tests/testPose3.cpp
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@ -204,19 +204,19 @@ TEST(Pose3, AdjointTranspose)
T.AdjointTranspose(xi, actualH1, actualH2); T.AdjointTranspose(xi, actualH1, actualH2);
expectedH1 = numericalDerivative21(AdjointTranspose_proxy, T, xi); expectedH1 = numericalDerivative21(AdjointTranspose_proxy, T, xi);
expectedH2 = numericalDerivative22(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)); EXPECT(assert_equal(expectedH2, actualH2));
T2.AdjointTranspose(xi, actualH1, actualH2); T2.AdjointTranspose(xi, actualH1, actualH2);
expectedH1 = numericalDerivative21(AdjointTranspose_proxy, T2, xi); expectedH1 = numericalDerivative21(AdjointTranspose_proxy, T2, xi);
expectedH2 = numericalDerivative22(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)); EXPECT(assert_equal(expectedH2, actualH2));
T3.AdjointTranspose(xi, actualH1, actualH2); T3.AdjointTranspose(xi, actualH1, actualH2);
expectedH1 = numericalDerivative21(AdjointTranspose_proxy, T3, xi); expectedH1 = numericalDerivative21(AdjointTranspose_proxy, T3, xi);
expectedH2 = numericalDerivative22(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)); EXPECT(assert_equal(expectedH2, actualH2));
} }