ModernRoboticsCpp
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Test file criterion wrong
In the test file, the test criterion is set to
ASSERT_TRUE(M.isApprox(result, 4));
According to Eigen Doc, this means as long as the difference is smaller than 4 times of min(M, result), it will pass. This is wrong. If you change a little bit of force or matrix list, the test still pass.
Normally we should set the criterion to something like 1e-4.
Did you mean MassMatrixTest?
Every test criterion should be set corretly, not just MassMatrixTest. This means we should change all the test assert and there might be some test fail in the existing code.