[core] Removed default tolerenace in quaternions

Author: cmastalli

include/pinocchio/codegen/cppadcg.hpp

@@ -122,6 +122,14 @@ namespace pinocchio
      }
    };
 
+  namespace quaternion
+  {
+    template <typename BaseScalar>
+    struct DefaultNormTolerance<CppAD::AD<CppAD::cg::CG<BaseScalar>>>
+    {
+      static constexpr BaseScalar value() { return DefaultNormTolerance<CppAD::AD<BaseScalar>>::value(); }
+    };
+  }
 } // namespace pinocchio
 
 #endif // #ifndef __pinocchio_codegen_ccpadcg_hpp__

include/pinocchio/math/quaternion.hpp

@@ -20,10 +20,7 @@ namespace pinocchio
   namespace quaternion
   {
     template <typename Scalar>
-    struct DefaultNormTolerance
-    {
-        static constexpr Scalar value() { return Scalar(1e-8); } // Generic fallback
-    };
+    struct DefaultNormTolerance;
 
     template <>
     struct DefaultNormTolerance<double>