From 2730a0ca3655b174262a7b65eab07f60330de986 Mon Sep 17 00:00:00 2001
From: Petter Nilsson <pettni@umich.edu>
Date: Wed, 23 Dec 2020 20:35:58 -0500
Subject: [PATCH] separate trait

---
 include/manif/impl/bundle/BundleTangent.h     | 6 +++---
 include/manif/impl/bundle/Bundle_properties.h | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/include/manif/impl/bundle/BundleTangent.h b/include/manif/impl/bundle/BundleTangent.h
index 28a2c2cd..59a195dd 100644
--- 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
index 4ece5993..1c025f68 100644
--- 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...> { };