better manidiff test tol

JuliaRobotics · Mar 27, 2023 · 5791e0c · 5791e0c
1 parent 879e6e5
commit 5791e0c
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/test/manifolds/manifolddiff.jl b/test/manifolds/manifolddiff.jl
@@ -160,7 +160,7 @@ sol = Optim.optimize(f, g_FD!, x0, Optim.ConjugateGradient(; manifold=ManifoldWr
 Cq .= randn(3)
 # Cq[
 @show sol.minimizer
-@test isapprox( f(sol.minimizer), 0; atol=1e-8 )
+@test isapprox( f(sol.minimizer), 0; atol=1e-3 )
 @test isapprox( 0, sum(abs.(log(M, e0, compose(M, inv(M,q), sol.minimizer)))); atol=1e-5)
 
 ##
@@ -206,8 +206,8 @@ sol = Optim.optimize(f, g_FD!, x0, Optim.ConjugateGradient(; manifold=ManifoldWr
 # Cq .= 0.5*randn(6)
 # Cq[
 @show sol.minimizer
-@test isapprox( f(sol.minimizer), 0; atol=1e-8 )
-@test isapprox( 0, sum(abs.(log(M, e0, compose(M, inv(M,q), sol.minimizer)))); atol=1e-5)
+@test isapprox( f(sol.minimizer), 0; atol=1e-3 )
+@test isapprox( 0, sum(abs.(log(M, e0, compose(M, inv(M,q), sol.minimizer)))); atol=1e-3)
 
 
 ##
@@ -229,7 +229,7 @@ f(p) = distance(M, p, q)^2
 sol = IncrementalInference.optimizeManifold_FD(M,f,x0)
 
 @show sol.minimizer
-@test isapprox( f(sol.minimizer), 0; atol=1e-8 )
+@test isapprox( f(sol.minimizer), 0; atol=1e-3 )
 @test isapprox( 0, sum(abs.(log(M, e0, compose(M, inv(M,q), sol.minimizer)))); atol=1e-5)