separate trait

artivis · Dec 24, 2020 · 2730a0c · 2730a0c
1 parent b297d6f
commit 2730a0c
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/include/manif/impl/bundle/BundleTangent.h b/include/manif/impl/bundle/BundleTangent.h
@@ -30,10 +30,10 @@ struct traits<BundleTangent<_Scalar, _T...>>
   using LenAlg = intseq<_T<_Scalar>::Tangent::LieAlg::RowsAtCompileTime ...>;
   using BegAlg = bundle::intseq_psum_t<LenAlg>;
 
+  using _tuple_t = std::tuple<typename _T<_Scalar>::Tangent ...>;
+
   template<size_t _Idx>
-  using PartType = typename bundle::bundle_element<
-    _Idx, typename _T<_Scalar>::Tangent ...
-  >::type;
+  using PartType = typename std::tuple_element<_Idx, _tuple_t>::type;
 
   // Regular traits
   using Scalar = _Scalar;

diff --git a/include/manif/impl/bundle/Bundle_properties.h b/include/manif/impl/bundle/Bundle_properties.h
@@ -124,11 +124,11 @@ using intseq_psum_t = typename intseq_psum<intseq<>, _Seq, 0>::type;
 /**
  * @brief extract element of typelist
  */
-template<int Idx, class ... T>
+template<std::size_t Idx, class ... T>
 struct bundle_element;
 
 // recursive case
-template<int Idx, class Head, class... Tail>
+template<std::size_t Idx, class Head, class... Tail>
 struct bundle_element<Idx, Head, Tail...>
     : public bundle_element<Idx-1, Tail...> { };