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Tighter bounds

release/4.3a0
dellaert 2015-08-26 20:19:26 -07:00
parent 08fcf65eb7
commit a4e58d06e7
1 changed files with 2 additions and 2 deletions
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gtsam/geometry/tests/testPose3.cpp
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@ -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(); xi = (Vector(6) << 0.2, 0.3, -0.8, 100.0, 120.0, -60.0).finished();
actual = Pose3::Expmap(xi); actual = Pose3::Expmap(xi);
EXPECT(assert_equal(expm<Pose3>(xi,10), actual,1e-5)); EXPECT(assert_equal(expm<Pose3>(xi,10), actual,1e-5));
EXPECT(assert_equal(Agrawal06iros(xi), actual,1e-6)); EXPECT(assert_equal(Agrawal06iros(xi), actual,1e-9));
EXPECT(assert_equal(xi, Pose3::Logmap(actual),1e-6)); EXPECT(assert_equal(xi, Pose3::Logmap(actual),1e-9));
} }
/* ************************************************************************* */ /* ************************************************************************* */