[cpp] remove more optional typename

include/fcarouge/internal/function.hpp

@@ -92,7 +92,7 @@ struct function_traits<Result (Type::*)(Arguments...) const> {
 
 template <typename Callable>
 using function_traits_t =
-    typename function_traits<decltype(&Callable::operator())>::type;
+    function_traits<decltype(&Callable::operator())>::type;
 
 template <typename Callable>
 function(Callable) -> function<function_traits_t<Callable>>;

include/fcarouge/internal/utility.hpp

@@ -72,16 +72,15 @@ struct repack<From<Types...>> {
   static inline constexpr auto size{sizeof...(Types)};
 };
 
-template <typename From> using repack_t = typename repack<From>::type;
+template <typename From> using repack_t = repack<From>::type;
 
 template <typename From> inline constexpr auto repack_s{repack<From>::size};
 
 template <typename Type, typename... Types> struct first_type {
   using type = Type;
 };
 
-template <typename... Types>
-using first_t = typename first_type<Types...>::type;
+template <typename... Types> using first_t = first_type<Types...>::type;
 
 template <auto Value, auto... Values> struct first_value {
   static constexpr auto value{Value};

include/fcarouge/kalman.hpp

@@ -186,55 +186,54 @@ class kalman final {
   //! @name Public Member Types
   //! @{
   //! @brief Type of the state estimate column vector X.
-  using state = typename implementation::state;
+  using state = implementation::state;
 
   //! @brief Type of the observation column vector Z.
   //!
   //! @details Also known as Y or O.
-  using output = typename implementation::output;
+  using output = implementation::output;
 
   //! @brief Type of the control column vector U.
   //!
   //! @todo Conditionally remove this member type when no input is present.
-  using input = typename implementation::input;
+  using input = implementation::input;
 
   //! @brief Type of the estimated correlated variance matrix P.
   //!
   //! @details Also known as Σ.
-  using estimate_uncertainty = typename implementation::estimate_uncertainty;
+  using estimate_uncertainty = implementation::estimate_uncertainty;
 
   //! @brief Type of the process noise correlated variance matrix Q.
-  using process_uncertainty = typename implementation::process_uncertainty;
+  using process_uncertainty = implementation::process_uncertainty;
 
   //! @brief Type of the observation noise correlated variance matrix R.
-  using output_uncertainty = typename implementation::output_uncertainty;
+  using output_uncertainty = implementation::output_uncertainty;
 
   //! @brief Type of the state transition matrix F.
   //!
   //! @details Also known as the fundamental matrix, propagation, Φ, or A.
-  using state_transition = typename implementation::state_transition;
+  using state_transition = implementation::state_transition;
 
   //! @brief Type of the observation transition matrix H.
   //!
   //! @details Also known as the measurement transition matrix or C.
-  using output_model = typename implementation::output_model;
+  using output_model = implementation::output_model;
 
   //! @brief Type of the control transition matrix G.
   //!
   //! @details Also known as B.
   //!
   //! @todo Conditionally remove this member type when no input is present.
-  using input_control = typename implementation::input_control;
+  using input_control = implementation::input_control;
 
   //! @brief Type of the gain matrix K.
-  using gain = typename implementation::gain;
+  using gain = implementation::gain;
 
   //! @brief Type of the innovation column vector Y.
-  using innovation = typename implementation::innovation;
+  using innovation = implementation::innovation;
 
   //! @brief Type of the innovation uncertainty matrix S.
-  using innovation_uncertainty =
-      typename implementation::innovation_uncertainty;
+  using innovation_uncertainty = implementation::innovation_uncertainty;
   //! @}
 
   //! @name Public Member Functions

linalg/lazy/fcarouge/linalg.hpp

@@ -266,7 +266,7 @@ struct matrix {
   }
 
   using generator = std::generator<Type>;
-  using promise_type = typename std::coroutine_traits<generator>::promise_type;
+  using promise_type = std::coroutine_traits<generator>::promise_type;
   // Add other aliases such as iterator or value type?
 
   auto begin() const { return genie.begin(); }