[Symforce] Use the _t variant instead of ::type

These _t versions are available since c++14. I might have missed some but these are the ones that I found. Topic: chaoqu_symforce_t Relative: chaoqu_symforce_replace_typedef GitOrigin-RevId: b3f7d77e1583a556dce772f8b85a5388a4385c51
symforce-org · Mar 31, 2023 · 72c45e4 · 72c45e4
1 parent 59a0309
commit 72c45e4
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Showing 4 changed files with 15 additions and 15 deletions.
diff --git a/symforce/opt/factor.tcc b/symforce/opt/factor.tcc
@@ -43,10 +43,10 @@ Factor<Scalar> Factor<Scalar>::Jacobian(Functor&& func, const std::vector<Key>&
   SYM_ASSERT(Traits::num_arguments == keys_to_func.size() + 2);
 
   // Get matrix types from function signature
-  using ResidualVec = typename std::remove_pointer<
-      typename Traits::template arg<Traits::num_arguments - 2>::type>::type;
-  using JacobianMat = typename std::remove_pointer<
-      typename Traits::template arg<Traits::num_arguments - 1>::type>::type;
+  using ResidualVec = typename std::remove_pointer_t<
+      typename Traits::template arg<Traits::num_arguments - 2>::type>;
+  using JacobianMat = typename std::remove_pointer_t<
+      typename Traits::template arg<Traits::num_arguments - 1>::type>;
 
   // Check that they're Eigen matrices (nice for error messages)
   static_assert(kIsEigenType<ResidualVec>,

diff --git a/symforce/opt/internal/factor_utils.h b/symforce/opt/internal/factor_utils.h
@@ -37,8 +37,8 @@ struct JacobianFuncTypeHelper {
   template <int Index>
   using ArgType = typename Traits::template arg<Index>::base_type;
 
-  using ResidualVec = typename std::remove_pointer<ArgType<Traits::num_arguments - 2>>::type;
-  using JacobianMat = typename std::remove_pointer<ArgType<Traits::num_arguments - 1>>::type;
+  using ResidualVec = typename std::remove_pointer_t<ArgType<Traits::num_arguments - 2>>;
+  using JacobianMat = typename std::remove_pointer_t<ArgType<Traits::num_arguments - 1>>;
 };
 
 /**
@@ -166,8 +166,8 @@ auto JacobianFixed(Functor&& func) {
   using FunctorType = std::decay_t<Functor>;
 
   // Get matrix types from function signature
-  using JacobianMat = typename std::remove_pointer<
-      typename Traits::template arg<Traits::num_arguments - 1>::type>::type;
+  using JacobianMat = typename std::remove_pointer_t<
+      typename Traits::template arg<Traits::num_arguments - 1>::type>;
 
   return [func = std::forward<Functor>(func)](const Values<Scalar>& values,
                                               const std::vector<index_entry_t>& keys_to_func,
@@ -231,10 +231,10 @@ struct HessianFuncTypeHelper {
   template <int Index>
   using ArgType = typename Traits::template arg<Index>::base_type;
 
-  using ResidualVec = typename std::remove_pointer<ArgType<Traits::num_arguments - 4>>::type;
-  using JacobianMat = typename std::remove_pointer<ArgType<Traits::num_arguments - 3>>::type;
-  using HessianMat = typename std::remove_pointer<ArgType<Traits::num_arguments - 2>>::type;
-  using RhsVec = typename std::remove_pointer<ArgType<Traits::num_arguments - 1>>::type;
+  using ResidualVec = typename std::remove_pointer_t<ArgType<Traits::num_arguments - 4>>;
+  using JacobianMat = typename std::remove_pointer_t<ArgType<Traits::num_arguments - 3>>;
+  using HessianMat = typename std::remove_pointer_t<ArgType<Traits::num_arguments - 2>>;
+  using RhsVec = typename std::remove_pointer_t<ArgType<Traits::num_arguments - 1>>;
 };
 
 /**

diff --git a/symforce/opt/templates.h b/symforce/opt/templates.h
@@ -63,7 +63,7 @@ struct function_traits : public function_traits<decltype(&remove_cvref_t<T>::ope
 template <typename ReturnType, typename... Args>
 struct function_traits<ReturnType(Args...)> {
   using return_type = ReturnType;
-  using base_return_type = typename std::decay<return_type>::type;
+  using base_return_type = typename std::decay_t<return_type>;
   using std_function_type = typename std::function<ReturnType(Args...)>;
 
   static constexpr std::size_t num_arguments = sizeof...(Args);
@@ -72,7 +72,7 @@ struct function_traits<ReturnType(Args...)> {
   struct arg {
     static_assert(N < num_arguments, "error: invalid parameter index.");
     using type = typename std::tuple_element<N, std::tuple<Args...>>::type;
-    using base_type = typename std::decay<type>::type;
+    using base_type = typename std::decay_t<type>;
   };
 };
 

diff --git a/symforce/opt/util.h b/symforce/opt/util.h
@@ -101,7 +101,7 @@ auto NumericalDerivative(const F f, const X& x,
                              kDefaultEpsilon<typename StorageOps<X>::Scalar>,
                          const typename sym::StorageOps<X>::Scalar delta = 1e-2f) {
   using Scalar = typename sym::StorageOps<X>::Scalar;
-  using Y = typename std::result_of<F(X)>::type;
+  using Y = typename std::result_of_t<F(X)>;
   using JacobianMat =
       Eigen::Matrix<Scalar, sym::LieGroupOps<Y>::TangentDim(), sym::LieGroupOps<X>::TangentDim()>;
   static_assert(std::is_same<typename sym::StorageOps<Y>::Scalar, Scalar>::value,