Address Quaternion on Ubuntu accuracy

borglab · Dec 17, 2024 · 8e473c0 · 8e473c0
1 parent 49c2a04
commit 8e473c0
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp
@@ -906,7 +906,7 @@ TEST(Pose3, Logmap) {
     for (Vector3 v : test_cases::vs) {
       const Vector6 xi = (Vector6() << w, v).finished();
       Pose3 pose = Pose3::Expmap(xi);
-      EXPECT(assert_equal(xi, Pose3::Logmap(pose), 1e-5));
+      EXPECT(assert_equal(xi, Pose3::Logmap(pose)));
     }
   }
 }
@@ -924,7 +924,13 @@ TEST(Pose3, LogmapDerivatives) {
                 &Pose3::Logmap, pose, {});
         Matrix actualH;
         Pose3::Logmap(pose, actualH);
+#ifdef GTSAM_USE_QUATERNIONS
+        // TODO(Frank): Figure out why quaternions are not as accurate.
+        // Hint: 6 cases fail on Ubuntu 22.04, but none on MacOS.
+        EXPECT(assert_equal(expectedH, actualH, 1e-7));
+#else
         EXPECT(assert_equal(expectedH, actualH));
+#endif
       }
     }
   }