Comments from Jim Roseborough.
1. Fix the tolerance on the rotation matrix conversion test.
2. Fix some out of date comments.
Change-Id: I65e80da1f96d7b4d9ac0630ad8cb708c41739840
diff --git a/include/ceres/rotation.h b/include/ceres/rotation.h
index 397787d..e3dbfe8 100644
--- a/include/ceres/rotation.h
+++ b/include/ceres/rotation.h
@@ -417,7 +417,7 @@
R(1, 2) = -wx*sintheta + wy*wz*(kOne - costheta);
R(2, 2) = costheta + wz*wz*(kOne - costheta);
} else {
- // At zero, we switch to using the first order Taylor expansion.
+ // Near zero, we switch to using the first order Taylor expansion.
R(0, 0) = kOne;
R(1, 0) = angle_axis[2];
R(2, 0) = -angle_axis[1];
@@ -625,7 +625,7 @@
// and actually performing multiplication with the point pt, gives us
// R * pt = pt + w x pt.
//
- // Switching to the Taylor expansion at zero provides meaningful
+ // Switching to the Taylor expansion near zero provides meaningful
// derivatives when evaluated using Jets.
//
// Explicitly inlined evaluation of the cross product for
diff --git a/internal/ceres/rotation_test.cc b/internal/ceres/rotation_test.cc
index cc4cc92..42fdfee 100644
--- a/internal/ceres/rotation_test.cc
+++ b/internal/ceres/rotation_test.cc
@@ -576,7 +576,7 @@
RotationMatrixToAngleAxis(matrix, round_trip);
for (int i = 0; i < 3; ++i) {
- EXPECT_NEAR(round_trip[i], axis_angle[i], kTolerance);
+ EXPECT_NEAR(round_trip[i], axis_angle[i], std::numeric_limits<double>::epsilon());
}
}
}
