more typedefs

include/IMU/math/IMU_tools_Lie.h

@@ -308,16 +308,20 @@ inline void composeOverState(const MatrixBase<D1>& x,
     MatrixSizeCheck<11, 1>::check(d);
     MatrixSizeCheck<10, 1>::check(x_plus_d);
 
-    Map<const Matrix<typename D1::Scalar, 3, 1> >   p         ( & x( 0 ) );
-    Map<const Quaternion<typename D1::Scalar> >     q         ( & x( 3 ) );
-    Map<const Matrix<typename D1::Scalar, 3, 1> >   v         ( & x( 7 ) );
-    Map<const Matrix<typename D2::Scalar, 3, 1> >   dp        ( & d( 0 ) );
-    Map<const Quaternion<typename D2::Scalar> >     dq        ( & d( 3 ) );
-    Map<const Matrix<typename D2::Scalar, 3, 1> >   dv        ( & d( 7 ) );
-    const typename D2::Scalar& dt = d(10);
-    Map<Matrix<typename D3::Scalar, 3, 1> >         p_plus_d  ( & x_plus_d( 0 ) );
-    Map<Quaternion<typename D3::Scalar> >           q_plus_d  ( & x_plus_d( 3 ) );
-    Map<Matrix<typename D3::Scalar, 3, 1> >         v_plus_d  ( & x_plus_d( 7 ) );
+    typedef typename D1::Scalar T1;
+    typedef typename D2::Scalar T2;
+    typedef typename D3::Scalar T3;
+
+    Map<const Matrix<T1, 3, 1> >   p         ( & x( 0 ) );
+    Map<const Quaternion<T1> >     q         ( & x( 3 ) );
+    Map<const Matrix<T1, 3, 1> >   v         ( & x( 7 ) );
+    Map<const Matrix<T2, 3, 1> >   dp        ( & d( 0 ) );
+    Map<const Quaternion<T2> >     dq        ( & d( 3 ) );
+    Map<const Matrix<T2, 3, 1> >   dv        ( & d( 7 ) );
+    const typename D2::Scalar&     dt        = d(10);
+    Map<Matrix<T3, 3, 1> >         p_plus_d  ( & x_plus_d( 0 ) );
+    Map<Quaternion<T3> >           q_plus_d  ( & x_plus_d( 3 ) );
+    Map<Matrix<T3, 3, 1> >         v_plus_d  ( & x_plus_d( 7 ) );
 
     p_plus_d = p + v*dt + 0.5*gravity()*dt*dt + q*dp;
     v_plus_d = v +            gravity()*dt    + q*dv;
@@ -363,16 +367,20 @@ inline void betweenStates(const MatrixBase<D1>& x1,
     MatrixSizeCheck<10, 1>::check(x2);
     MatrixSizeCheck<11, 1>::check(x2_minus_x1);
 
-    Map<const Matrix<typename D1::Scalar, 3, 1> >   p1  ( & x1(0) );
-    Map<const Quaternion<typename D1::Scalar> >     q1  ( & x1(3) );
-    Map<const Matrix<typename D1::Scalar, 3, 1> >   v1  ( & x1(7) );
-    Map<const Matrix<typename D2::Scalar, 3, 1> >   p2  ( & x2(0) );
-    Map<const Quaternion<typename D2::Scalar> >     q2  ( & x2(3) );
-    Map<const Matrix<typename D2::Scalar, 3, 1> >   v2  ( & x2(7) );
-    Map<Matrix<typename D3::Scalar, 3, 1> >         dp  ( & x2_minus_x1(0) );
-    Map<Quaternion<typename D3::Scalar> >           dq  ( & x2_minus_x1(3) );
-    Map<Matrix<typename D3::Scalar, 3, 1> >         dv  ( & x2_minus_x1(7) );
-    T& Dt = x2_minus_x1(10);
+    typedef typename D1::Scalar T1;
+    typedef typename D2::Scalar T2;
+    typedef typename D3::Scalar T3;
+
+    Map<const Matrix<T1, 3, 1> >   p1  ( & x1(0) );
+    Map<const Quaternion<T1> >     q1  ( & x1(3) );
+    Map<const Matrix<T1, 3, 1> >   v1  ( & x1(7) );
+    Map<const Matrix<T2, 3, 1> >   p2  ( & x2(0) );
+    Map<const Quaternion<T2> >     q2  ( & x2(3) );
+    Map<const Matrix<T2, 3, 1> >   v2  ( & x2(7) );
+    Map<Matrix<T3, 3, 1> >         dp  ( & x2_minus_x1(0) );
+    Map<Quaternion<T3> >           dq  ( & x2_minus_x1(3) );
+    Map<Matrix<T3, 3, 1> >         dv  ( & x2_minus_x1(7) );
+    T&                             Dt = x2_minus_x1(10);
 
     betweenStates(p1, q1, v1, p2, q2, v2, dt, dp, dq, dv, Dt);
 }
@@ -403,10 +411,12 @@ inline void QandPmat(const MatrixBase<D1>& th, MatrixBase<D2>& Q, MatrixBase<D3>
         P *= 0.5;
     }
     else{
-        Matrix<typename D1::Scalar, 3, 3> Id;
+        typedef typename D1::Scalar T;
+
+        Matrix<T, 3, 3> Id;
         Id.setIdentity();
-        Matrix<typename D1::Scalar, 3, 1> u = th / thn;
-        Matrix<typename D1::Scalar, 3, 3> ux = skew(u);
+        Matrix<T, 3, 1> u = th / thn;
+        Matrix<T, 3, 3> ux = skew(u);
 
         Q = Id 
         + ((1  - cos(thn))/thn)*ux