perf(dynamic_obstacle_stop): construct rtree nodes in place

maxime-clem · maxime-clem · commit b48b416e5200 · 2024-06-30T11:28:49.000+09:00
Signed-off-by: Maxime CLEMENT &lt;maxime.clement@tier4.jp&gt;
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/footprint.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/footprint.cpp
@@ -79,9 +79,9 @@ void make_ego_footprint_rtree(EgoData & ego_data, const PlannerParam & params)
   for (auto i = 0UL; i < ego_data.trajectory_footprints.size(); ++i) {
     const auto box = boost::geometry::return_envelope<autoware::universe_utils::Box2d>(
       ego_data.trajectory_footprints[i]);
-    rtree_nodes.push_back(std::make_pair(box, i));
+    rtree_nodes.emplace_back(box, i);
   }
-  ego_data.rtree = Rtree(rtree_nodes);
+  ego_data.rtree = Rtree(std::move(rtree_nodes));
 }
 
 }  // namespace autoware::motion_velocity_planner::dynamic_obstacle_stop

Original file line number	Diff line number	Diff line change
`@@ -79,9 +79,9 @@ void make_ego_footprint_rtree(EgoData & ego_data, const PlannerParam & params)`
`79`	`79`	`for (auto i = 0UL; i < ego_data.trajectory_footprints.size(); ++i) {`
`80`	`80`	`const auto box = boost::geometry::return_envelope<autoware::universe_utils::Box2d>(`
`81`	`81`	`ego_data.trajectory_footprints[i]);`
`82`		`- rtree_nodes.push_back(std::make_pair(box, i));`
	`82`	`+ rtree_nodes.emplace_back(box, i);`
`83`	`83`	`}`
`84`		`- ego_data.rtree = Rtree(rtree_nodes);`
	`84`	`+ ego_data.rtree = Rtree(std::move(rtree_nodes));`
`85`	`85`	`}`
`86`	`86`
`87`	`87`	`} // namespace autoware::motion_velocity_planner::dynamic_obstacle_stop`