From 3679f7fd5160c7d2a8271b1134ca1e601f1a4254 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 11 Feb 2021 10:33:00 -0500
Subject: [PATCH] add double precision alias declarations and remove typedefs

---
 matrix/AxisAngle.hpp    |  5 +++--
 matrix/Dcm.hpp          |  5 +++--
 matrix/Euler.hpp        |  3 ++-
 matrix/Quaternion.hpp   | 11 +++++++----
 matrix/Scalar.hpp       |  3 ++-
 matrix/SquareMatrix.hpp |  6 ++++--
 matrix/Vector.hpp       |  2 +-
 matrix/Vector2.hpp      |  8 +++++---
 matrix/Vector3.hpp      |  5 +++--
 9 files changed, 30 insertions(+), 18 deletions(-)

diff --git a/matrix/AxisAngle.hpp b/matrix/AxisAngle.hpp
index d72de6269a..41a9711541 100644
--- a/matrix/AxisAngle.hpp
+++ b/matrix/AxisAngle.hpp
@@ -30,7 +30,7 @@ template<typename Type>
 class AxisAngle : public Vector<Type, 3>
 {
 public:
-    typedef Matrix<Type, 3, 1> Matrix31;
+    using Matrix31 = Matrix<Type, 3, 1>;
 
     /**
      * Constructor from array
@@ -152,7 +152,8 @@ public:
     }
 };
 
-typedef AxisAngle<float> AxisAnglef;
+using AxisAnglef = AxisAngle<float>;
+using AxisAngled = AxisAngle<double>;
 
 } // namespace matrix
 
diff --git a/matrix/Dcm.hpp b/matrix/Dcm.hpp
index f4a4c3ca68..62bac589f7 100644
--- a/matrix/Dcm.hpp
+++ b/matrix/Dcm.hpp
@@ -39,7 +39,7 @@ template<typename Type>
 class Dcm : public SquareMatrix<Type, 3>
 {
 public:
-    typedef Matrix<Type, 3, 1> Vector3;
+    using Vector3 = Matrix<Type, 3, 1>;
 
     /**
      * Standard constructor
@@ -182,7 +182,8 @@ public:
     }
 };
 
-typedef Dcm<float> Dcmf;
+using Dcmf = Dcm<float>;
+using Dcmd = Dcm<double>;
 
 } // namespace matrix
 
diff --git a/matrix/Euler.hpp b/matrix/Euler.hpp
index a0b8226cbd..bcaa85753c 100644
--- a/matrix/Euler.hpp
+++ b/matrix/Euler.hpp
@@ -153,7 +153,8 @@ public:
 
 };
 
-typedef Euler<float> Eulerf;
+using Eulerf = Euler<float>;
+using Eulerd = Euler<double>;
 
 } // namespace matrix
 
diff --git a/matrix/Quaternion.hpp b/matrix/Quaternion.hpp
index 5bd23457e5..309cd53952 100644
--- a/matrix/Quaternion.hpp
+++ b/matrix/Quaternion.hpp
@@ -53,8 +53,8 @@ template<typename Type>
 class Quaternion : public Vector<Type, 4>
 {
 public:
-    typedef Matrix<Type, 4, 1> Matrix41;
-    typedef Matrix<Type, 3, 1> Matrix31;
+    using Matrix41 = Matrix<Type, 4, 1>;
+    using Matrix31 = Matrix<Type, 3, 1>;
 
     /**
      * Constructor from array
@@ -449,8 +449,11 @@ public:
     }
 };
 
-typedef Quaternion<float> Quatf;
-typedef Quaternion<float> Quaternionf;
+using Quatf = Quaternion<float>;
+using Quaternionf = Quaternion<float>;
+
+using Quatd = Quaternion<double>;
+using Quaterniond = Quaternion<double>;
 
 } // namespace matrix
 
diff --git a/matrix/Scalar.hpp b/matrix/Scalar.hpp
index c9765028c3..182e0f7786 100644
--- a/matrix/Scalar.hpp
+++ b/matrix/Scalar.hpp
@@ -50,7 +50,8 @@ private:
 
 };
 
-typedef Scalar<float> Scalarf;
+using Scalarf = Scalar<float>;
+using Scalard = Scalar<double>;
 
 } // namespace matrix
 
diff --git a/matrix/SquareMatrix.hpp b/matrix/SquareMatrix.hpp
index 9cb02cddfb..127e89b2f1 100644
--- a/matrix/SquareMatrix.hpp
+++ b/matrix/SquareMatrix.hpp
@@ -266,7 +266,8 @@ public:
 
 };
 
-typedef SquareMatrix<float, 3> SquareMatrix3f;
+using SquareMatrix3f = SquareMatrix<float, 3>;
+using SquareMatrix3d = SquareMatrix<double, 3>;
 
 template<typename Type, size_t M>
 SquareMatrix<Type, M> eye() {
@@ -535,7 +536,8 @@ SquareMatrix <Type, M> choleskyInv(const SquareMatrix<Type, M> & A)
     return L_inv.T()*L_inv;
 }
 
-typedef SquareMatrix<float, 3> Matrix3f;
+using Matrix3f = SquareMatrix<float, 3>;
+using Matrix3d = SquareMatrix<double, 3>;
 
 } // namespace matrix
 
diff --git a/matrix/Vector.hpp b/matrix/Vector.hpp
index 64a9fe54db..09e79d1bbb 100644
--- a/matrix/Vector.hpp
+++ b/matrix/Vector.hpp
@@ -20,7 +20,7 @@ template<typename Type, size_t M>
 class Vector : public Matrix<Type, M, 1>
 {
 public:
-    typedef Matrix<Type, M, 1> MatrixM1;
+    using MatrixM1 = Matrix<Type, M, 1>;
 
     Vector() = default;
 
diff --git a/matrix/Vector2.hpp b/matrix/Vector2.hpp
index c12e413d2b..33d0cda467 100644
--- a/matrix/Vector2.hpp
+++ b/matrix/Vector2.hpp
@@ -21,8 +21,8 @@ class Vector2 : public Vector<Type, 2>
 {
 public:
 
-    typedef Matrix<Type, 2, 1> Matrix21;
-    typedef Vector<Type, 3> Vector3;
+    using Matrix21 = Matrix<Type, 2, 1>;
+    using Vector3 = Vector<Type, 3>;
 
     Vector2() = default;
 
@@ -71,7 +71,9 @@ public:
 
 };
 
-typedef Vector2<float> Vector2f;
+
+using Vector2f = Vector2<float>;
+using Vector2d = Vector2<double>;
 
 } // namespace matrix
 
diff --git a/matrix/Vector3.hpp b/matrix/Vector3.hpp
index 6e8cc601a1..f67ade4618 100644
--- a/matrix/Vector3.hpp
+++ b/matrix/Vector3.hpp
@@ -30,7 +30,7 @@ class Vector3 : public Vector<Type, 3>
 {
 public:
 
-    typedef Matrix<Type, 3, 1> Matrix31;
+    using Matrix31 = Matrix<Type, 3, 1>;
 
     Vector3() = default;
 
@@ -148,7 +148,8 @@ public:
 
 };
 
-typedef Vector3<float> Vector3f;
+using Vector3f = Vector3<float>;
+using Vector3d = Vector3<double>;
 
 } // namespace matrix