more typedefs

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;