diff --git a/ocs2_core/CMakeLists.txt b/ocs2_core/CMakeLists.txt
index 5bb261364..55defd3a6 100644
--- a/ocs2_core/CMakeLists.txt
+++ b/ocs2_core/CMakeLists.txt
@@ -299,6 +299,7 @@ catkin_add_gtest(${PROJECT_NAME}_test_misc
   test/misc/testLogging.cpp
   test/misc/testLoadData.cpp
   test/misc/testLookup.cpp
+  test/misc/testNumerics.cpp
 )
 target_link_libraries(${PROJECT_NAME}_test_misc
   ${PROJECT_NAME}
diff --git a/ocs2_core/include/ocs2_core/misc/Numerics.h b/ocs2_core/include/ocs2_core/misc/Numerics.h
index d2e45d2f4..b98199667 100644
--- a/ocs2_core/include/ocs2_core/misc/Numerics.h
+++ b/ocs2_core/include/ocs2_core/misc/Numerics.h
@@ -102,7 +102,7 @@ bool almost_le(T1&& x, T2&& y, T3&& prec) {
  * @param [in] y: Second floating-point number.
  * @return bool: true if x<=y.
  */
-template <class T1, class T2, class T3>
+template <class T1, class T2>
 bool almost_le(T1&& x, T2&& y) {
   return x < y || almost_eq(x, y);
 }
diff --git a/ocs2_core/test/misc/testNumerics.cpp b/ocs2_core/test/misc/testNumerics.cpp
new file mode 100644
index 000000000..453280505
--- /dev/null
+++ b/ocs2_core/test/misc/testNumerics.cpp
@@ -0,0 +1,46 @@
+/******************************************************************************
+Copyright (c) 2020, Farbod Farshidian. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+******************************************************************************/
+
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <limits>
+
+#include <ocs2_core/misc/Numerics.h>
+
+TEST(testNumerics, almostLeDefaultPrecision) {
+  double one = 1.0;
+  double next = std::nextafter(one, std::numeric_limits<double>::infinity());
+  double distant = 1.1;
+
+  EXPECT_TRUE(ocs2::numerics::almost_le(one, one));
+  EXPECT_TRUE(ocs2::numerics::almost_le(one, next));
+  EXPECT_TRUE(ocs2::numerics::almost_le(next, one));
+  EXPECT_FALSE(ocs2::numerics::almost_le(distant, one));
+}