From 977de797f6faefa6596da7838663df6bbdc83bc3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 9 Oct 2019 20:49:50 +0200
Subject: [PATCH] more typedefs

---
 include/IMU/math/IMU_tools_Lie.h | 25 ++++++++++++++-----------
 1 file changed, 14 insertions(+), 11 deletions(-)

diff --git a/include/IMU/math/IMU_tools_Lie.h b/include/IMU/math/IMU_tools_Lie.h
index 7dad22964..34c448e68 100644
--- a/include/IMU/math/IMU_tools_Lie.h
+++ b/include/IMU/math/IMU_tools_Lie.h
@@ -438,19 +438,22 @@ Matrix<typename Derived::Scalar, 11, 1> exp_IMU(const MatrixBase<Derived>& d_in)
 {
     MatrixSizeCheck<10, 1>::check(d_in);
 
-    Matrix<typename Derived::Scalar, 11, 1> ret;
+    typedef typename Derived::Scalar T;
 
-    Map<const Matrix<typename Derived::Scalar, 3, 1> >   dp_in  ( & d_in(0) );
-    Map<const Matrix<typename Derived::Scalar, 3, 1> >   do_in  ( & d_in(3) );
-    Map<const Matrix<typename Derived::Scalar, 3, 1> >   dv_in  ( & d_in(6) );
-    const typename Derived::Scalar& dt_in = d_in(9);
-    Map<Matrix<typename Derived::Scalar, 3, 1> >         dp     ( &  ret(0) );
-    Map<Quaternion<typename Derived::Scalar> >           dq     ( &  ret(3) );
-    Map<Matrix<typename Derived::Scalar, 3, 1> >         dv     ( &  ret(7) );
-    typename Derived::Scalar& dt = ret(10);
 
-    Matrix<typename Derived::Scalar, 3, 3> Q;
-    Matrix<typename Derived::Scalar, 3, 3> P;
+    Matrix<T, 11, 1> ret;
+
+    Map<const Matrix<T, 3, 1> >   dp_in  ( & d_in(0) );
+    Map<const Matrix<T, 3, 1> >   do_in  ( & d_in(3) );
+    Map<const Matrix<T, 3, 1> >   dv_in  ( & d_in(6) );
+    const T&                      dt_in =    d_in(9);
+    Map<Matrix<T, 3, 1> >         dp     ( &  ret(0) );
+    Map<Quaternion<T> >           dq     ( &  ret(3) );
+    Map<Matrix<T, 3, 1> >         dv     ( &  ret(7) );
+    T&                            dt    =     ret(10);
+
+    Matrix<T, 3, 3> Q;
+    Matrix<T, 3, 3> P;
     QandPmat(do_in, Q, P);
 
     dp = Q*dp_in + P*dv_in*dt_in;
-- 
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