[Macros] Add helper struct to remove typename warning comming from c++03 compilers

src/macros.hpp

@@ -33,7 +33,7 @@ PINOCCHIO_PATCH_VERSION>=z))))
 
 namespace se3
 {
-  namespace internal
+  namespace helper
   {
     template<typename T> struct argument_type;
     template<typename T, typename U> struct argument_type<T(U)> { typedef U type; };
@@ -43,14 +43,26 @@ namespace se3
 /// \brief Empty macro argument
 #define PINOCCHIO_MACRO_EMPTY_ARG
 
+namespace se3
+{
+  namespace helper
+  {
+    template<typename D, template<typename> class TypeAccess>
+    struct handle_return_type_without_typename
+    {
+      typedef typename TypeAccess< typename argument_type<void(D)>::type >::type type;
+    };
+  }
+}
+
 /// \brief Macro giving access to the equivalent plain type of D
-#define EIGEN_PLAIN_TYPE(D) Eigen::internal::plain_matrix_type< typename se3::internal::argument_type<void(D)>::type >::type
+#define EIGEN_PLAIN_TYPE(D) Eigen::internal::plain_matrix_type< typename se3::helper::argument_type<void(D)>::type >::type
 
 /// \brief Similar to macro EIGEN_PLAIN_TYPE but with guaranty to provite a column major type
-#define EIGEN_PLAIN_COLUMN_MAJOR_TYPE(D) Eigen::internal::plain_matrix_type_column_major< typename se3::internal::argument_type<void(D)>::type >::type
+#define EIGEN_PLAIN_COLUMN_MAJOR_TYPE(D) se3::helper::handle_return_type_without_typename<D,Eigen::internal::plain_matrix_type_column_major>::type
 
 /// \brief Similar to macro EIGEN_PLAIN_TYPE but with guaranty to provite a row major type
-#define EIGEN_PLAIN_ROW_MAJOR_TYPE(D) Eigen::internal::fix::plain_matrix_type_row_major< typename se3::internal::argument_type<void(D)>::type >::type
+#define EIGEN_PLAIN_ROW_MAJOR_TYPE(D) se3::helper::handle_return_type_without_typename<D,Eigen::internal::fix::plain_matrix_type_row_major>::type
 
 /// \brief Macro giving access to the reference type of D
 #define EIGEN_REF_CONSTTYPE(D) Eigen::internal::ref_selector<D>::type
@@ -64,7 +76,6 @@ D &, \
 D \
 >::type
 #endif
-
 /// \brief Macro giving access to the return type of the dot product operation
 #if EIGEN_VERSION_AT_LEAST(3,3,0)
 #define EIGEN_DOT_PRODUCT_RETURN_TYPE(D1,D2) \