diff --git a/src/ceres_wrapper/ceres_manager.cpp b/src/ceres_wrapper/ceres_manager.cpp
index f790a6172815cdd83f2789ca572f096a340cc9ff..a66b289b7a4777401c608818447feaf404d9e2d0 100644
--- a/src/ceres_wrapper/ceres_manager.cpp
+++ b/src/ceres_wrapper/ceres_manager.cpp
@@ -105,8 +105,8 @@ void CeresManager::computeCovariances(CovarianceBlocksToBeComputed _blocks)
{
for (unsigned int j = i; j < all_state_blocks.size(); j++)
{
- state_block_pairs.push_back(std::make_pair(all_state_blocks[i],all_state_blocks[j]));
- double_pairs.push_back(std::make_pair(all_state_blocks[i]->getPtr(),all_state_blocks[j]->getPtr()));
+ state_block_pairs.emplace_back(all_state_blocks[i],all_state_blocks[j]);
+ double_pairs.emplace_back(all_state_blocks[i]->getPtr(),all_state_blocks[j]->getPtr());
}
}
break;
@@ -128,8 +128,8 @@ void CeresManager::computeCovariances(CovarianceBlocksToBeComputed _blocks)
{
if (sb)
{
- state_block_pairs.push_back(std::make_pair(sb, sb2));
- double_pairs.push_back(std::make_pair(sb->getPtr(), sb2->getPtr()));
+ state_block_pairs.emplace_back(sb, sb2);
+ double_pairs.emplace_back(sb->getPtr(), sb2->getPtr());
if (sb == sb2) break;
}
}
@@ -151,8 +151,8 @@ void CeresManager::computeCovariances(CovarianceBlocksToBeComputed _blocks)
// all_state_blocks.push_back(sb);
for(auto sb2 : l_ptr->getUsedStateBlockVec())
{
- state_block_pairs.push_back(std::make_pair(sb, sb2));
- double_pairs.push_back(std::make_pair(sb->getPtr(), sb2->getPtr()));
+ state_block_pairs.emplace_back(sb, sb2);
+ double_pairs.emplace_back(sb->getPtr(), sb2->getPtr());
if (sb == sb2) break;
}
}
@@ -163,13 +163,13 @@ void CeresManager::computeCovariances(CovarianceBlocksToBeComputed _blocks)
// // loop all marginals (PO marginals)
// for (unsigned int i = 0; 2*i+1 < all_state_blocks.size(); i++)
// {
-// state_block_pairs.push_back(std::make_pair(all_state_blocks[2*i],all_state_blocks[2*i]));
-// state_block_pairs.push_back(std::make_pair(all_state_blocks[2*i],all_state_blocks[2*i+1]));
-// state_block_pairs.push_back(std::make_pair(all_state_blocks[2*i+1],all_state_blocks[2*i+1]));
+// state_block_pairs.emplace_back(all_state_blocks[2*i],all_state_blocks[2*i]);
+// state_block_pairs.emplace_back(all_state_blocks[2*i],all_state_blocks[2*i+1]);
+// state_block_pairs.emplace_back(all_state_blocks[2*i+1],all_state_blocks[2*i+1]);
//
-// double_pairs.push_back(std::make_pair(all_state_blocks[2*i]->getPtr(),all_state_blocks[2*i]->getPtr()));
-// double_pairs.push_back(std::make_pair(all_state_blocks[2*i]->getPtr(),all_state_blocks[2*i+1]->getPtr()));
-// double_pairs.push_back(std::make_pair(all_state_blocks[2*i+1]->getPtr(),all_state_blocks[2*i+1]->getPtr()));
+// double_pairs.emplace_back(all_state_blocks[2*i]->getPtr(),all_state_blocks[2*i]->getPtr());
+// double_pairs.emplace_back(all_state_blocks[2*i]->getPtr(),all_state_blocks[2*i+1]->getPtr());
+// double_pairs.emplace_back(all_state_blocks[2*i+1]->getPtr(),all_state_blocks[2*i+1]->getPtr());
// }
break;
}
@@ -178,13 +178,13 @@ void CeresManager::computeCovariances(CovarianceBlocksToBeComputed _blocks)
//robot-robot
auto last_key_frame = wolf_problem_->getLastKeyFramePtr();
- state_block_pairs.push_back(std::make_pair(last_key_frame->getPPtr(), last_key_frame->getPPtr()));
- state_block_pairs.push_back(std::make_pair(last_key_frame->getPPtr(), last_key_frame->getOPtr()));
- state_block_pairs.push_back(std::make_pair(last_key_frame->getOPtr(), last_key_frame->getOPtr()));
+ state_block_pairs.emplace_back(last_key_frame->getPPtr(), last_key_frame->getPPtr());
+ state_block_pairs.emplace_back(last_key_frame->getPPtr(), last_key_frame->getOPtr());
+ state_block_pairs.emplace_back(last_key_frame->getOPtr(), last_key_frame->getOPtr());
- double_pairs.push_back(std::make_pair(last_key_frame->getPPtr()->getPtr(), last_key_frame->getPPtr()->getPtr()));
- double_pairs.push_back(std::make_pair(last_key_frame->getPPtr()->getPtr(), last_key_frame->getOPtr()->getPtr()));
- double_pairs.push_back(std::make_pair(last_key_frame->getOPtr()->getPtr(), last_key_frame->getOPtr()->getPtr()));
+ double_pairs.emplace_back(last_key_frame->getPPtr()->getPtr(), last_key_frame->getPPtr()->getPtr());
+ double_pairs.emplace_back(last_key_frame->getPPtr()->getPtr(), last_key_frame->getOPtr()->getPtr());
+ double_pairs.emplace_back(last_key_frame->getOPtr()->getPtr(), last_key_frame->getOPtr()->getPtr());
// landmarks
std::vector<StateBlockPtr> landmark_state_blocks;
@@ -196,16 +196,16 @@ void CeresManager::computeCovariances(CovarianceBlocksToBeComputed _blocks)
for (auto state_it = landmark_state_blocks.begin(); state_it != landmark_state_blocks.end(); state_it++)
{
// robot - landmark
- state_block_pairs.push_back(std::make_pair(last_key_frame->getPPtr(), *state_it));
- state_block_pairs.push_back(std::make_pair(last_key_frame->getOPtr(), *state_it));
- double_pairs.push_back(std::make_pair(last_key_frame->getPPtr()->getPtr(), (*state_it)->getPtr()));
- double_pairs.push_back(std::make_pair(last_key_frame->getOPtr()->getPtr(), (*state_it)->getPtr()));
+ state_block_pairs.emplace_back(last_key_frame->getPPtr(), *state_it);
+ state_block_pairs.emplace_back(last_key_frame->getOPtr(), *state_it);
+ double_pairs.emplace_back(last_key_frame->getPPtr()->getPtr(), (*state_it)->getPtr());
+ double_pairs.emplace_back(last_key_frame->getOPtr()->getPtr(), (*state_it)->getPtr());
// landmark marginal
for (auto next_state_it = state_it; next_state_it != landmark_state_blocks.end(); next_state_it++)
{
- state_block_pairs.push_back(std::make_pair(*state_it, *next_state_it));
- double_pairs.push_back(std::make_pair((*state_it)->getPtr(), (*next_state_it)->getPtr()));
+ state_block_pairs.emplace_back(*state_it, *next_state_it);
+ double_pairs.emplace_back((*state_it)->getPtr(), (*next_state_it)->getPtr());
}
}
}