diff --git a/fuse_constraints/test/cost_function_gtest.h b/fuse_constraints/test/cost_function_gtest.h index ec272fe3b..3f73a2537 100644 --- a/fuse_constraints/test/cost_function_gtest.h +++ b/fuse_constraints/test/cost_function_gtest.h @@ -51,7 +51,7 @@ * @param[in] tolerance The tolerance to use when comparing the cost functions are equal. Defaults to 1e-18 */ static void ExpectCostFunctionsAreEqual(const ceres::CostFunction& cost_function, - const ceres::CostFunction& actual_cost_function, double tolerance = 1e-18) + const ceres::CostFunction& actual_cost_function) { EXPECT_EQ(cost_function.num_residuals(), actual_cost_function.num_residuals()); const size_t num_residuals = cost_function.num_residuals(); @@ -95,7 +95,7 @@ static void ExpectCostFunctionsAreEqual(const ceres::CostFunction& cost_function EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(), actual_residuals.get(), nullptr)); for (size_t i = 0; i < num_residuals; ++i) { - EXPECT_NEAR(residuals[i], actual_residuals[i], tolerance) << "residual id: " << i; + EXPECT_DOUBLE_EQ(residuals[i], actual_residuals[i]) << "residual id: " << i; } EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.get(), residuals.get(), jacobian_blocks.get())); @@ -103,12 +103,12 @@ static void ExpectCostFunctionsAreEqual(const ceres::CostFunction& cost_function actual_cost_function.Evaluate(parameter_blocks.get(), actual_residuals.get(), actual_jacobian_blocks.get())); for (size_t i = 0; i < num_residuals; ++i) { - EXPECT_NEAR(residuals[i], actual_residuals[i], tolerance) << "residual : " << i; + EXPECT_DOUBLE_EQ(residuals[i], actual_residuals[i]) << "residual : " << i; } for (size_t i = 0; i < num_residuals * num_parameters; ++i) { - EXPECT_NEAR(jacobians[i], actual_jacobians[i], tolerance) + EXPECT_DOUBLE_EQ(jacobians[i], actual_jacobians[i]) << "jacobian : " << i << " " << jacobians[i] << " " << actual_jacobians[i]; } }