Unverified Commit af03b034 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

[Spatial/explog] Fix precision when using the Taylor expansion

parent ac2cba4a
......@@ -255,7 +255,7 @@ namespace se3
typename SE3::Angular_t & rot = res.rotation();
const Scalar t = std::sqrt(t2);
if(t > Eigen::NumTraits<Scalar>::dummy_precision())
if(t > 1e-4)
{
Scalar ct,st; SINCOS(t,&st,&ct);
......
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