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paulnovo-guest pushed a commit to branch master
in repository opensurgsim.
commit d2c8a4dff83db5fdf85ea9c4d226da99a5a137df
Author: Paul Novotny <p...@paulnovo.us>
Date: Fri Oct 14 13:21:58 2016 -0400
Fixes strict epsilons in MatrixTests (Closes: #838272)
---
debian/patches/fix-matrix-tests.patch | 291 ++++++++++++++++++++++++++++++++++
debian/patches/series | 1 +
2 files changed, 292 insertions(+)
diff --git a/debian/patches/fix-matrix-tests.patch
b/debian/patches/fix-matrix-tests.patch
new file mode 100644
index 0000000..7540a5a
--- /dev/null
+++ b/debian/patches/fix-matrix-tests.patch
@@ -0,0 +1,291 @@
+--- a/SurgSim/Math/UnitTests/MatrixTests.cpp
++++ b/SurgSim/Math/UnitTests/MatrixTests.cpp
+@@ -467,11 +467,11 @@
+ const int SIZE = Matrix::RowsAtCompileTime;
+
+ Matrix a = Matrix::Constant(6.0f);
+- EXPECT_NEAR(6.0f * SIZE * SIZE, a.sum(), 1e-6);
++ EXPECT_NEAR(6.0f * SIZE * SIZE, a.sum(), 5e-6);
+ const Matrix b = Matrix::Constant(7.0f);
+- EXPECT_NEAR(7.0f * SIZE * SIZE, b.sum(), 1e-6);
++ EXPECT_NEAR(7.0f * SIZE * SIZE, b.sum(), 5e-6);
+ a = b;
+- EXPECT_NEAR(7.0f * SIZE * SIZE, a.sum(), 1e-6);
++ EXPECT_NEAR(7.0f * SIZE * SIZE, a.sum(), 5e-6);
+ }
+
+ // ==================== ACCESS ====================
+@@ -495,9 +495,9 @@
+ for (int i = 0; i < SIZE; ++i)
+ {
+ Vector rowVector = a.row(i);
+- EXPECT_NEAR((i + 1.f) * SIZE, rowVector.sum(), 1e-6);
++ EXPECT_NEAR((i + 1.f) * SIZE, rowVector.sum(), 5e-6);
+ Vector columnVector = a.col(i);
+- EXPECT_NEAR(SIZE * (SIZE+1) / 2., columnVector.sum(), 1e-6);
++ EXPECT_NEAR(SIZE * (SIZE+1) / 2., columnVector.sum(), 5e-6);
+ }
+
+ for (int i = 0; i < SIZE; ++i)
+@@ -509,9 +509,9 @@
+ for (int i = 0; i < SIZE; ++i)
+ {
+ Vector columnVector = a.col(i);
+- EXPECT_NEAR((i + 1.f) * SIZE, columnVector.sum(), 1e-6);
++ EXPECT_NEAR((i + 1.f) * SIZE, columnVector.sum(), 5e-6);
+ Vector rowVector = a.row(i);
+- EXPECT_NEAR(SIZE * (SIZE+1) / 2., rowVector.sum(), 1e-6);
++ EXPECT_NEAR(SIZE * (SIZE+1) / 2., rowVector.sum(), 5e-6);
+ }
+ }
+
+@@ -529,11 +529,11 @@
+ Vector diagonalVector = Vector::Constant(2.f);
+ a.diagonal() = diagonalVector;
+ }
+- EXPECT_NEAR(2.f * SIZE, a.sum(), 1e-6);
++ EXPECT_NEAR(2.f * SIZE, a.sum(), 5e-6);
+
+ Matrix b = Matrix::Identity();
+ {
+- EXPECT_NEAR(1.f * SIZE, b.diagonal().sum(), 1e-6);
++ EXPECT_NEAR(1.f * SIZE, b.diagonal().sum(), 5e-6);
+ }
+ }
+
+@@ -636,9 +636,9 @@
+ const int SIZE = Matrix::RowsAtCompileTime;
+
+ Matrix a = Matrix::Constant(0.1f);
+- EXPECT_NEAR(0.1 * SIZE * SIZE, a.sum(), 1e-6);
++ EXPECT_NEAR(0.1 * SIZE * SIZE, a.sum(), 5e-6);
+ Matrix b = -a;
+- EXPECT_NEAR(-0.1 * SIZE * SIZE, b.sum(), 1e-6);
++ EXPECT_NEAR(-0.1 * SIZE * SIZE, b.sum(), 5e-6);
+ }
+
+ /// Addition.
+@@ -648,9 +648,9 @@
+ const int SIZE = Matrix::RowsAtCompileTime;
+
+ Matrix a = Matrix::Constant(0.1f);
+- EXPECT_NEAR(0.1 * SIZE * SIZE, a.sum(), 1e-6);
++ EXPECT_NEAR(0.1 * SIZE * SIZE, a.sum(), 5e-6);
+ Matrix b = a + Matrix::Ones() + a;
+- EXPECT_NEAR(1.2 * SIZE * SIZE, b.sum(), 1e-6);
++ EXPECT_NEAR(1.2 * SIZE * SIZE, b.sum(), 5e-6);
+ }
+
+ /// Subtraction.
+@@ -660,9 +660,9 @@
+ const int SIZE = Matrix::RowsAtCompileTime;
+
+ Matrix a = Matrix::Constant(0.1f);
+- EXPECT_NEAR(0.1 * SIZE * SIZE, a.sum(), 1e-6);
++ EXPECT_NEAR(0.1 * SIZE * SIZE, a.sum(), 5e-6);
+ Matrix b = Matrix::Ones() - a;
+- EXPECT_NEAR(0.9 * SIZE * SIZE, b.sum(), 1e-6);
++ EXPECT_NEAR(0.9 * SIZE * SIZE, b.sum(), 5e-6);
+ }
+
+ /// Incrementing by a value.
+@@ -672,9 +672,9 @@
+ const int SIZE = Matrix::RowsAtCompileTime;
+
+ Matrix a = Matrix::Constant(0.1f);
+- EXPECT_NEAR(0.1 * SIZE * SIZE, a.sum(), 1e-6);
++ EXPECT_NEAR(0.1 * SIZE * SIZE, a.sum(), 5e-6);
+ a += Matrix::Ones();
+- EXPECT_NEAR(1.1 * SIZE * SIZE, a.sum(), 1e-6);
++ EXPECT_NEAR(1.1 * SIZE * SIZE, a.sum(), 5e-6);
+ }
+
+ /// Decrementing by a value.
+@@ -684,9 +684,9 @@
+ const int SIZE = Matrix::RowsAtCompileTime;
+
+ Matrix a = Matrix::Constant(1.1f);
+- EXPECT_NEAR(1.1 * SIZE * SIZE, a.sum(), 1e-6);
++ EXPECT_NEAR(1.1 * SIZE * SIZE, a.sum(), 5e-6);
+ a -= Matrix::Ones();
+- EXPECT_NEAR(0.1 * SIZE * SIZE, a.sum(), 1e-6);
++ EXPECT_NEAR(0.1 * SIZE * SIZE, a.sum(), 5e-6);
+ }
+
+ /// Matrix-scalar multiplication.
+@@ -696,7 +696,7 @@
+
+ Matrix a = Matrix::Random();
+ Matrix b = a * 1.23f;
+- EXPECT_NEAR(1.23 * a.sum(), b.sum(), 1e-6);
++ EXPECT_NEAR(1.23 * a.sum(), b.sum(), 5e-6);
+ }
+
+ /// Scalar-matrix multiplication.
+@@ -706,7 +706,7 @@
+
+ Matrix a = Matrix::Random();
+ Matrix b = 1.23f * a;
+- EXPECT_NEAR(1.23 * a.sum(), b.sum(), 1e-6);
++ EXPECT_NEAR(1.23 * a.sum(), b.sum(), 5e-6);
+ }
+
+ /// Division by scalar.
+@@ -716,7 +716,7 @@
+
+ Matrix a = Matrix::Random();
+ Matrix b = a / 1.23f;
+- EXPECT_NEAR(a.sum() / 1.23, b.sum(), 1e-6);
++ EXPECT_NEAR(a.sum() / 1.23, b.sum(), 5e-6);
+ }
+
+ /// Matrix-vector multiplication.
+@@ -732,7 +732,7 @@
+ Vector v = Vector::Zero();
+ v[0] = 1.f;
+ Vector w = a * v;
+- EXPECT_NEAR(a.col(0).sum(), w.sum(), 1e-6);
++ EXPECT_NEAR(a.col(0).sum(), w.sum(), 5e-6);
+ }
+
+ /// Matrix-matrix multiplication.
+@@ -797,8 +797,8 @@
+ Matrix a = Matrix::Random();
+ Matrix b = Matrix::Identity();
+ Matrix c = a.cwiseProduct(b);
+- EXPECT_NEAR(0, c.sum() - c.diagonal().sum(), 1e-6);
+- EXPECT_NEAR(0, (a - c).diagonal().sum(), 1e-6);
++ EXPECT_NEAR(0, c.sum() - c.diagonal().sum(), 5e-6);
++ EXPECT_NEAR(0, (a - c).diagonal().sum(), 5e-6);
+ }
+
+ /// Component-wise division.
+@@ -809,7 +809,7 @@
+ Matrix a = Matrix::Random();
+ Matrix b = Matrix::Constant(0.5f);
+ Matrix c = a.cwiseQuotient(b);
+- EXPECT_NEAR(a.sum() * 2, c.sum(), 1e-6);
++ EXPECT_NEAR(a.sum() * 2, c.sum(), 5e-6);
+ }
+
+ /// Frobenius norm and its square.
+@@ -893,7 +893,7 @@
+
+ Matrix a = Matrix::Random();
+ T expectedTrace = a.diagonal().sum();
+- EXPECT_NEAR(expectedTrace, a.trace(), 1e-6);
++ EXPECT_NEAR(expectedTrace, a.trace(), 5e-6);
+ }
+
+ /// Determinant.
+@@ -914,7 +914,7 @@
+
+ Matrix22 m = Matrix22::Random();
+ T expectedDeterminant = m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0);
+- EXPECT_NEAR(expectedDeterminant, m.determinant(), 1e-6);
++ EXPECT_NEAR(expectedDeterminant, m.determinant(), 5e-6);
+ }
+
+ /// Determinant (explicit 3x3 result).
+@@ -925,7 +925,7 @@
+
+ Matrix33 m = Matrix33::Random();
+ T expectedDeterminant = m.row(0).cross(m.row(1)).dot(m.row(2));
+- EXPECT_NEAR(expectedDeterminant, m.determinant(), 1e-6);
++ EXPECT_NEAR(expectedDeterminant, m.determinant(), 5e-6);
+ }
+
+ // ==================== SUBMATRICES (EXTENDING/SHRINKING) ====================
+@@ -949,7 +949,7 @@
+ // class; you don't need to do this in a non-template context.
+ matrix3.template block<2, 2>(0, 0) = matrix2;
+
+- EXPECT_NEAR(6.0, matrix3.sum(), 1e-6) << "extending was incorrect: " <<
matrix3;
++ EXPECT_NEAR(6.0, matrix3.sum(), 5e-6) << "extending was incorrect: " <<
matrix3;
+ }
+
+ /// Extending matrices using the block(i,j,r,c) syntax.
+@@ -968,7 +968,7 @@
+ Matrix33 matrix3 = Matrix33::Identity();
+ matrix3.block(0, 0, 2, 2) = matrix2;
+
+- EXPECT_NEAR(6.0, matrix3.sum(), 1e-6) << "extending was incorrect: " <<
matrix3;
++ EXPECT_NEAR(6.0, matrix3.sum(), 5e-6) << "extending was incorrect: " <<
matrix3;
+ }
+
+ /// Shrinking matrices using the block<r,c>() syntax.
+@@ -991,7 +991,7 @@
+ // class; you don't need to do this in a non-template context.
+ matrix2 = matrix3.template block<2, 2>(0, 0);
+
+- EXPECT_NEAR(5.2, matrix2.sum(), 1e-6) << "shrinking was incorrect: " <<
matrix2;
++ EXPECT_NEAR(5.2, matrix2.sum(), 5e-6) << "shrinking was incorrect: " <<
matrix2;
+ }
+
+ /// Extending matrices using the block<r,c>() syntax.
+@@ -1013,7 +1013,7 @@
+ // class; you don't need to do this in a non-template context.
+ matrix3.template block<2, 2>(0, 0) = matrix2;
+
+- EXPECT_NEAR(6.0, matrix3.sum(), 1e-6) << "extending was incorrect: " <<
matrix3;
++ EXPECT_NEAR(6.0, matrix3.sum(), 5e-6) << "extending was incorrect: " <<
matrix3;
+ }
+
+ /// Shrinking matrices using the block<r,c>() syntax.
+@@ -1036,7 +1036,7 @@
+ // class; you don't need to do this in a non-template context.
+ matrix2 = matrix3.template block<2, 2>(0, 0);
+
+- EXPECT_NEAR(5.2, matrix2.sum(), 1e-6) << "shrinking was incorrect: " <<
matrix2;
++ EXPECT_NEAR(5.2, matrix2.sum(), 5e-6) << "shrinking was incorrect: " <<
matrix2;
+ }
+
+ /// Extending matrices using the block<r,c>() syntax.
+@@ -1059,7 +1059,7 @@
+ // class; you don't need to do this in a non-template context.
+ matrix4.template block<3, 3>(0, 0) = matrix3;
+
+- EXPECT_NEAR(14.5, matrix4.sum(), 1e-6) << "extending was incorrect: "
<< matrix4;
++ EXPECT_NEAR(14.5, matrix4.sum(), 5e-6) << "extending was incorrect: "
<< matrix4;
+ }
+
+ /// Shrinking matrices using the block<r,c>() syntax.
+@@ -1083,7 +1083,7 @@
+ // class; you don't need to do this in a non-template context.
+ matrix3 = matrix4.template block<3, 3>(0, 0);
+
+- EXPECT_NEAR(14.4, matrix3.sum(), 1e-6) << "shrinking was incorrect: "
<< matrix3;
++ EXPECT_NEAR(14.4, matrix3.sum(), 5e-6) << "shrinking was incorrect: "
<< matrix3;
+ }
+
+ /// Extending matrices using the block<r,c>() syntax.
+@@ -1106,7 +1106,7 @@
+ // class; you don't need to do this in a non-template context.
+ matrix4.template block<3, 3>(0, 0) = matrix3;
+
+- EXPECT_NEAR(14.5, matrix4.sum(), 1e-6) << "extending was incorrect: "
<< matrix4;
++ EXPECT_NEAR(14.5, matrix4.sum(), 5e-6) << "extending was incorrect: "
<< matrix4;
+ }
+
+ /// Shrinking matrices using the block<r,c>() syntax.
+@@ -1130,7 +1130,7 @@
+ // class; you don't need to do this in a non-template context.
+ matrix3 = matrix4.template block<3, 3>(0, 0);
+
+- EXPECT_NEAR(14.4, matrix3.sum(), 1e-6) << "shrinking was incorrect: "
<< matrix3;
++ EXPECT_NEAR(14.4, matrix3.sum(), 5e-6) << "shrinking was incorrect: "
<< matrix3;
+ }
+
+ // ==================== TYPE CONVERSION ====================
+@@ -1151,9 +1151,9 @@
+ // triggered because the test is a part of a template class; you don't
+ // need to do this in a non-template context.
+ Matrixd d = a.template cast<double>();
+- EXPECT_NEAR(expectedSum, d.sum(), 1e-6);
++ EXPECT_NEAR(expectedSum, d.sum(), 5e-6);
+ Matrixf f = a.template cast<float>();
+- EXPECT_NEAR(expectedSum, f.sum(), 1e-6);
++ EXPECT_NEAR(expectedSum, f.sum(), 5e-6);
+ }
+
+ // ==================== MISCELLANEOUS ====================
diff --git a/debian/patches/series b/debian/patches/series
index 2d56be5..a436984 100644
--- a/debian/patches/series
+++ b/debian/patches/series
@@ -2,3 +2,4 @@ fix-build-with-eigen-3-3.patch
disable-sensitive-tests.patch
fix-hurd-build.patch
fix-rigid-representation-test.patch
+fix-matrix-tests.patch
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