Commit 11395d85 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

[C++][Minor] Change threshold in firstOrderNormalize

parent 35c5f2e6
......@@ -97,7 +97,7 @@ namespace se3
#ifndef NDEBUG
const Scalar M = 3 * std::pow((Scalar)1.-epsilon, ((Scalar)-5)/2) / 4;
assert(std::fabs(q.norm() - 1) <=
std::max(M * sqrt(N2) * (N2 - 1)*(N2 - 1) / 2, Eigen::NumTraits<Scalar>::epsilon()));
std::max(M * sqrt(N2) * (N2 - 1)*(N2 - 1) / 2, Eigen::NumTraits<Scalar>::dummy_precision()));
#endif
}
......
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