Loosen an exact equality in local_parameterization_test
The norm comparison in QuaternionParameterizationHelper is exact
but that leads to numerical precision problems and test failures
as reported by Nicu Stiurca.
https://github.com/ceres-solver/ceres-solver/issues/198
Change-Id: I45f42f0373770408ddeee0b4c9d162e619f8d445
diff --git a/internal/ceres/local_parameterization_test.cc b/internal/ceres/local_parameterization_test.cc
index 8eb8033..6e27abc 100644
--- a/internal/ceres/local_parameterization_test.cc
+++ b/internal/ceres/local_parameterization_test.cc
@@ -29,6 +29,7 @@
// Author: sameeragarwal@google.com (Sameer Agarwal)
#include <cmath>
+#include <limits>
#include "ceres/autodiff_local_parameterization.h"
#include "ceres/fpclassify.h"
#include "ceres/householder_vector.h"
@@ -244,7 +245,9 @@
local_matrix.data());
Matrix expected_local_matrix =
global_matrix * MatrixRef(jacobian, kGlobalSize, kLocalSize);
- EXPECT_EQ((local_matrix - expected_local_matrix).norm(), 0.0);
+ EXPECT_NEAR((local_matrix - expected_local_matrix).norm(),
+ 0.0,
+ std::numeric_limits<double>::epsilon());
}
template <int N>
