Test file criterion wrong

[guzhaoyuan]

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.

[Le0nX]

Did you mean MassMatrixTest?

[guzhaoyuan]

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.