From 91ac5ed022396c0d2df07bfc5db78a0ca5815d8a Mon Sep 17 00:00:00 2001
From: Jien Cao <jcao@theaiinstitute.com>
Date: Sun, 19 Nov 2023 15:50:35 -0500
Subject: [PATCH] SW-561: fix a couple of tol(erance) usage

---
 spatialmath/base/transforms3d.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/spatialmath/base/transforms3d.py b/spatialmath/base/transforms3d.py
index 480e0cd9..55bde76d 100644
--- a/spatialmath/base/transforms3d.py
+++ b/spatialmath/base/transforms3d.py
@@ -1329,7 +1329,7 @@ def trlog(
     :seealso: :func:`~trexp` :func:`~spatialmath.base.transformsNd.vex` :func:`~spatialmath.base.transformsNd.vexa`
     """
 
-    if ishom(T, check=check, tol=10):
+    if ishom(T, check=check, tol=tol):
         # SE(3) matrix
 
         [R, t] = tr2rt(T)
@@ -1357,7 +1357,7 @@ def trlog(
             else:
                 return Ab2M(S, v)
 
-    elif isrot(T, check=check):
+    elif isrot(T, check=check, tol=tol):
         # deal with rotation matrix
         R = T
         if abs(np.trace(R) + 1) < tol * _eps: