diff --git a/include/IMU/math/IMU_tools_Lie.h b/include/IMU/math/IMU_tools_Lie.h
index bfe4df3b0f77c0b11895bb21948bfc9eeb4e635c..3c4d2a4c298826ecff3a4a7e2eda249792509dbf 100644
--- a/include/IMU/math/IMU_tools_Lie.h
+++ b/include/IMU/math/IMU_tools_Lie.h
@@ -137,16 +137,17 @@ inline void inverse(const MatrixBase<D1>& d,
     MatrixSizeCheck<11, 1>::check(d);
     MatrixSizeCheck<11, 1>::check(id);
 
-    typedef typename D1::Scalar T;
-
-    Map<const Matrix<typename D1::Scalar, 3, 1> >   dp   ( & d( 0 ) );
-    Map<const Quaternion<typename D1::Scalar> >     dq   ( & d( 3 ) );
-    Map<const Matrix<typename D1::Scalar, 3, 1> >   dv   ( & d( 7 ) );
-    const T&  dt = d( 10 ) ;
-    Map<Matrix<typename D2::Scalar, 3, 1> >         idp  ( & id( 0 ) );
-    Map<Quaternion<typename D2::Scalar> >           idq  ( & id( 3 ) );
-    Map<Matrix<typename D2::Scalar, 3, 1> >         idv  ( & id( 7 ) );
-    T& idt = id( 10 ) ;
+    typedef typename D1::Scalar T1;
+    typedef typename D1::Scalar T2;
+
+    Map<const Matrix<T1, 3, 1> >   dp   ( & d( 0 ) );
+    Map<const Quaternion<T1> >     dq   ( & d( 3 ) );
+    Map<const Matrix<T1, 3, 1> >   dv   ( & d( 7 ) );
+    const T1&  dt = d( 10 ) ;
+    Map<Matrix<T2, 3, 1> >         idp  ( & id( 0 ) );
+    Map<Quaternion<T2> >           idq  ( & id( 3 ) );
+    Map<Matrix<T2, 3, 1> >         idv  ( & id( 7 ) );
+    T2& idt = id( 10 ) ;
 
     inverse(dp, dq, dv, dt, idp, idq, idv, idt);
 }