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fixed threshold problems that showed up when compiling 32 bit gtsam on Snow leopard with universal boost

release/4.3a0
Chris Beall 2010-10-21 19:51:12 +00:00
parent 6b553ce4fa
commit ce6844abe1
2 changed files with 18 additions and 18 deletions
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26
geometry/tests/testPose3.cpp
View File

@ -168,10 +168,10 @@ TEST( Pose3, compose )
Matrix actualDcompose1, actualDcompose2;
T2.compose(T2, actualDcompose1, actualDcompose2);
Matrix numericalH1 = numericalDerivative21(testing::compose<Pose3>, T2, T2, 1e-4);
CHECK(assert_equal(numericalH1,actualDcompose1,5e-5));
Matrix numericalH1 = numericalDerivative21(testing::compose<Pose3>, T2, T2, 1e-2);
CHECK(assert_equal(numericalH1,actualDcompose1,5e-3));
Matrix numericalH2 = numericalDerivative22(testing::compose<Pose3>, T2, T2, 1e-4);
Matrix numericalH2 = numericalDerivative22(testing::compose<Pose3>, T2, T2, 1e-2);
CHECK(assert_equal(numericalH2,actualDcompose2));
}
@ -186,10 +186,10 @@ TEST( Pose3, compose2 )
Matrix actualDcompose1, actualDcompose2;
T1.compose(T2, actualDcompose1, actualDcompose2);
Matrix numericalH1 = numericalDerivative21(testing::compose<Pose3>, T1, T2, 1e-4);
CHECK(assert_equal(numericalH1,actualDcompose1,5e-5));
Matrix numericalH1 = numericalDerivative21(testing::compose<Pose3>, T1, T2, 1e-2);
CHECK(assert_equal(numericalH1,actualDcompose1,5e-3));
Matrix numericalH2 = numericalDerivative22(testing::compose<Pose3>, T1, T2, 1e-4);
Matrix numericalH2 = numericalDerivative22(testing::compose<Pose3>, T1, T2, 1e-2);
CHECK(assert_equal(numericalH2,actualDcompose2));
}
@ -201,8 +201,8 @@ TEST( Pose3, inverse)
Matrix expected = inverse(T.matrix());
CHECK(assert_equal(actual,expected,1e-8));
Matrix numericalH = numericalDerivative11(testing::inverse<Pose3>, T, 1e-5);
CHECK(assert_equal(numericalH,actualDinverse));
Matrix numericalH = numericalDerivative11(testing::inverse<Pose3>, T, 1e-2);
CHECK(assert_equal(numericalH,actualDinverse,5e-3));
}
/* ************************************************************************* */
@ -212,10 +212,10 @@ TEST( Pose3, inverseDerivatives2)
Point3 t(3.5,-8.2,4.2);
Pose3 T(R,t);
Matrix numericalH = numericalDerivative11(testing::inverse<Pose3>, T, 1e-5);
Matrix numericalH = numericalDerivative11(testing::inverse<Pose3>, T, 1e-2);
Matrix actualDinverse;
T.inverse(actualDinverse);
CHECK(assert_equal(numericalH,actualDinverse,5e-5));
CHECK(assert_equal(numericalH,actualDinverse,5e-3));
}
/* ************************************************************************* */
@ -457,10 +457,10 @@ TEST( Pose3, between )
Pose3 actual = T2.between(T3, actualDBetween1,actualDBetween2);
CHECK(assert_equal(expected,actual));
Matrix numericalH1 = numericalDerivative21(testing::between<Pose3> , T2, T3, 1e-4);
CHECK(assert_equal(numericalH1,actualDBetween1,5e-5));
Matrix numericalH1 = numericalDerivative21(testing::between<Pose3> , T2, T3, 1e-2);
CHECK(assert_equal(numericalH1,actualDBetween1,5e-3));
Matrix numericalH2 = numericalDerivative22(testing::between<Pose3> , T2, T3, 1e-4);
Matrix numericalH2 = numericalDerivative22(testing::between<Pose3> , T2, T3, 1e-2);
CHECK(assert_equal(numericalH2,actualDBetween2));
}

10
geometry/tests/testRot3.cpp
View File

@ -276,11 +276,11 @@ TEST( Rot3, compose )
CHECK(assert_equal(expected,actual));
Matrix numericalH1 = numericalDerivative21(testing::compose<Rot3>, R1,
R2, 1e-4);
R2, 1e-2);
CHECK(assert_equal(numericalH1,actualH1));
Matrix numericalH2 = numericalDerivative22(testing::compose<Rot3>, R1,
R2, 1e-4);
R2, 1e-2);
CHECK(assert_equal(numericalH2,actualH2));
}
@ -294,7 +294,7 @@ TEST( Rot3, inverse )
CHECK(assert_equal(I,R*R.inverse(actualH)));
CHECK(assert_equal(I,R.inverse()*R));
Matrix numericalH = numericalDerivative11(testing::inverse<Rot3>, R, 1e-4);
Matrix numericalH = numericalDerivative11(testing::inverse<Rot3>, R, 1e-2);
CHECK(assert_equal(numericalH,actualH));
}
@ -314,10 +314,10 @@ TEST( Rot3, between )
Rot3 actual = R1.between(R2, actualH1, actualH2);
CHECK(assert_equal(expected,actual));
Matrix numericalH1 = numericalDerivative21(testing::between<Rot3> , R1, R2, 1e-4);
Matrix numericalH1 = numericalDerivative21(testing::between<Rot3> , R1, R2, 1e-2);
CHECK(assert_equal(numericalH1,actualH1));
Matrix numericalH2 = numericalDerivative22(testing::between<Rot3> , R1, R2, 1e-4);
Matrix numericalH2 = numericalDerivative22(testing::between<Rot3> , R1, R2, 1e-2);
CHECK(assert_equal(numericalH2,actualH2));
}