From d1e3f25081d06aeb8398ae5249b070421d03a060 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 9 Oct 2019 20:04:45 +0200
Subject: [PATCH] Use typedef
---
include/IMU/math/IMU_tools_Lie.h | 21 +++++++++++----------
1 file changed, 11 insertions(+), 10 deletions(-)
diff --git a/include/IMU/math/IMU_tools_Lie.h b/include/IMU/math/IMU_tools_Lie.h
index bfe4df3b0..3c4d2a4c2 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);
}
--
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