testEssentialMatrix, testEssentialMatrixConstraint, and testEssentialMatrixFactor fail in Quaternion Mode

[Chris Beall]

The first two look like tolerance issues that 1e-7 would fix, but the last is a bit more severe:

90/169 Test #90: testEssentialMatrixFactor ..............***Failed 0.01 sec /home/cbeall3/git/gtsam/gtsam/slam/tests/testEssentialMatrixFactor.cpp:131: Failure: "expected 639.84000000000003 but was: 643.26174503528728" /home/cbeall3/git/gtsam/gtsam/slam/tests/testEssentialMatrixFactor.cpp:342: Failure: "expected 639.84000000000003 but was: 643.26174468536215"

[Chris Beall]

@jdong37 , are you using these factors? Maybe you could take a look? RotateFactor fails, too. Possibly related: ./testRotateFactor not equal: expected [-0.0246305; 0.20197; -0.08867]; actual [-0.0248752; 0.202981; -0.0890529]; /home/cbeall3/git/gtsam/gtsam/slam/tests/testRotateFactor.cpp:63: Failure: "assert_equal(expectedE, f.evaluateError(R), 1e-5)" /home/cbeall3/git/gtsam/gtsam/slam/tests/testRotateFactor.cpp Failure: "expected 3349 but was: 3545.4068575989013"

[Chris Beall]

Duplicate of #5.