1 files changed, 9 insertions, 9 deletions
diff --git a/test/umeyama.cpp b/test/umeyama.cpp
index b6c9be3a5..2e8092434 100644
--- a/test/umeyama.cpp
+++ b/test/umeyama.cpp
@@ -22,8 +22,6 @@ template <typename T>
 Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> randMatrixUnitary(int size)
 {
   typedef T Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-
   typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> MatrixType;
 
   MatrixType Q;
@@ -77,7 +75,6 @@ template <typename T>
 Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> randMatrixSpecialUnitary(int size)
 {
   typedef T Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
 
   typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> MatrixType;
 
@@ -85,7 +82,7 @@ Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> randMatrixSpecialUnitary(int si
   MatrixType Q = randMatrixUnitary<Scalar>(size);
 
   // tweak the first column to make the determinant be 1
-  Q.col(0) *= internal::conj(Q.determinant());
+  Q.col(0) *= numext::conj(Q.determinant());
 
   return Q;
 }
@@ -93,13 +90,14 @@ Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> randMatrixSpecialUnitary(int si
 template <typename MatrixType>
 void run_test(int dim, int num_elements)
 {
+  using std::abs;
   typedef typename internal::traits<MatrixType>::Scalar Scalar;
   typedef Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> MatrixX;
   typedef Matrix<Scalar, Eigen::Dynamic, 1> VectorX;
 
   // MUST be positive because in any other case det(cR_t) may become negative for
   // odd dimensions!
-  const Scalar c = internal::abs(internal::random<Scalar>());
+  const Scalar c = abs(internal::random<Scalar>());
 
   MatrixX R = randMatrixSpecialUnitary<Scalar>(dim);
   VectorX t = Scalar(50)*VectorX::Random(dim,1);
@@ -122,6 +120,7 @@ void run_test(int dim, int num_elements)
 template<typename Scalar, int Dimension>
 void run_fixed_size_test(int num_elements)
 {
+  using std::abs;
   typedef Matrix<Scalar, Dimension+1, Dynamic> MatrixX;
   typedef Matrix<Scalar, Dimension+1, Dimension+1> HomMatrix;
   typedef Matrix<Scalar, Dimension, Dimension> FixedMatrix;
@@ -131,10 +130,11 @@ void run_fixed_size_test(int num_elements)
 
   // MUST be positive because in any other case det(cR_t) may become negative for
   // odd dimensions!
-  const Scalar c = internal::abs(internal::random<Scalar>());
+  // Also if c is to small compared to t.norm(), problem is ill-posed (cf. Bug 744)
+  const Scalar c = internal::random<Scalar>(0.5, 2.0);
 
   FixedMatrix R = randMatrixSpecialUnitary<Scalar>(dim);
-  FixedVector t = Scalar(50)*FixedVector::Random(dim,1);
+  FixedVector t = Scalar(32)*FixedVector::Random(dim,1);
 
   HomMatrix cR_t = HomMatrix::Identity(dim+1,dim+1);
   cR_t.block(0,0,dim,dim) = c*R;
@@ -150,9 +150,9 @@ void run_fixed_size_test(int num_elements)
 
   HomMatrix cR_t_umeyama = umeyama(src_block, dst_block);
 
-  const Scalar error = ( cR_t_umeyama*src - dst ).array().square().sum();
+  const Scalar error = ( cR_t_umeyama*src - dst ).squaredNorm();
 
-  VERIFY(error < Scalar(10)*std::numeric_limits<Scalar>::epsilon());
+  VERIFY(error < Scalar(16)*std::numeric_limits<Scalar>::epsilon());
 }
 
 void test_umeyama()