fixes

math/vc_aos/include/algebra/math/impl/vc_aos_transform3.hpp

@@ -256,27 +256,21 @@ struct transform3 {
   /// This method transform from a point from the local 3D cartesian frame
   ///  to the global 3D cartesian frame
   ///
-  /// @tparam point_type 3D point
-  ///
   /// @param v is the point to be transformed
   ///
   /// @return a global point
-  template <typename point3_type>
-  ALGEBRA_HOST_DEVICE inline auto point_to_global(const point3_type &p) const {
+  ALGEBRA_HOST_DEVICE inline auto point_to_global(const point3 &p) const {
 
     return _data.x * p[0] + _data.y * p[1] + _data.z * p[2] + _data.t;
   }
 
   /// This method transform from a vector from the global 3D cartesian frame
   ///  into the local 3D cartesian frame
   ///
-  /// @tparam point_type 3D point
-  ///
   /// @param v is the point to be transformed
   ///
   /// @return a local point
-  template <typename point3_type>
-  ALGEBRA_HOST_DEVICE inline auto point_to_local(const point3_type &p) const {
+  ALGEBRA_HOST_DEVICE inline auto point_to_local(const point3 &p) const {
 
     return _data_inv.x * p[0] + _data_inv.y * p[1] + _data_inv.z * p[2] +
            _data_inv.t;
@@ -285,28 +279,21 @@ struct transform3 {
   /// This method transform from a vector from the local 3D cartesian frame
   ///  to the global 3D cartesian frame
   ///
-  /// @tparam vector3_type 3D vector
-  ///
   /// @param v is the vector to be transformed
   ///
   /// @return a vector in global coordinates
-  template <typename vector3_type>
-  ALGEBRA_HOST_DEVICE inline auto vector_to_global(
-      const vector3_type &v) const {
+  ALGEBRA_HOST_DEVICE inline auto vector_to_global(const vector3 &v) const {
 
     return rotate(_data, v);
   }
 
   /// This method transform from a vector from the global 3D cartesian frame
   ///  into the local 3D cartesian frame
   ///
-  /// @tparam vector3_type 3D vector
-  ///
   /// @param v is the vector to be transformed
   ///
   /// @return a vector in global coordinates
-  template <typename vector3_type>
-  ALGEBRA_HOST_DEVICE inline auto vector_to_local(const vector3_type &v) const {
+  ALGEBRA_HOST_DEVICE inline auto vector_to_local(const vector3 &v) const {
 
     return rotate(_data_inv, v);
   }