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Use tolerance to compare quaternion components in UserObjectsTest.Inertial

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Fixes #2515

PiperOrigin-RevId: 742704324
Change-Id: Ib26891e43128e66d2ac1840ed574285781fb12a5
This commit is contained in:
Yuval Tassa
2025-04-01 08:11:08 -07:00
committed by Copybara-Service
parent a02a27d4a4
commit e5912c3ce4
1 changed files with 2 additions and 1 deletions
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test/user/user_objects_test.cc
+2 -1
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@@ -2508,7 +2508,8 @@ TEST_F(UserObjectsTest, Inertial) {
mjtNum quat[4]; mjtNum quat[4];
const mjtNum euler[3] = {3, 4, 5}; const mjtNum euler[3] = {3, 4, 5};
mju_euler2Quat(quat, euler, "xyz"); mju_euler2Quat(quat, euler, "xyz");
EXPECT_EQ(AsVector(m->body_iquat+4, 4), AsVector(quat, 4)); EXPECT_THAT(AsVector(m->body_iquat+4, 4),
Pointwise(DoubleNear(1e-8), AsVector(quat, 4)));
EXPECT_EQ(m->body_mass[2], 2); EXPECT_EQ(m->body_mass[2], 2);
EXPECT_THAT(AsVector(m->body_ipos+6, 3), ElementsAre(1, 2, 3)); EXPECT_THAT(AsVector(m->body_ipos+6, 3), ElementsAre(1, 2, 3));