From 0c6d5d438ff44dbb143b049f4ace02f8f10ff0f7 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 20 Nov 2021 11:46:32 -0500
Subject: [PATCH] use emplace_shared

---
 gtsam/discrete/DiscreteFactorGraph.h | 16 +++++++++-------
 gtsam_unstable/discrete/CSP.h        | 22 ++++++----------------
 2 files changed, 15 insertions(+), 23 deletions(-)

diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h
index f39adc9a8..3ea9c3cdd 100644
--- a/gtsam/discrete/DiscreteFactorGraph.h
+++ b/gtsam/discrete/DiscreteFactorGraph.h
@@ -101,25 +101,27 @@ public:
 
   /// @}
 
-  template<class SOURCE>
+  // Add single key decision-tree factor.
+  template <class SOURCE>
   void add(const DiscreteKey& j, SOURCE table) {
     DiscreteKeys keys;
     keys.push_back(j);
-    push_back(boost::make_shared<DecisionTreeFactor>(keys, table));
+    emplace_shared<DecisionTreeFactor>(keys, table);
   }
 
-  template<class SOURCE>
+  // Add binary key decision-tree factor.
+  template <class SOURCE>
   void add(const DiscreteKey& j1, const DiscreteKey& j2, SOURCE table) {
     DiscreteKeys keys;
     keys.push_back(j1);
     keys.push_back(j2);
-    push_back(boost::make_shared<DecisionTreeFactor>(keys, table));
+    emplace_shared<DecisionTreeFactor>(keys, table);
   }
 
-  /** add shared discreteFactor immediately from arguments */
-  template<class SOURCE>
+  // Add shared discreteFactor immediately from arguments.
+  template <class SOURCE>
   void add(const DiscreteKeys& keys, SOURCE table) {
-    push_back(boost::make_shared<DecisionTreeFactor>(keys, table));
+    emplace_shared<DecisionTreeFactor>(keys, table);
   }
 
   /** Return the set of variables involved in the factors (set union) */
diff --git a/gtsam_unstable/discrete/CSP.h b/gtsam_unstable/discrete/CSP.h
index 544cdf0c9..e43e53932 100644
--- a/gtsam_unstable/discrete/CSP.h
+++ b/gtsam_unstable/discrete/CSP.h
@@ -21,32 +21,22 @@ namespace gtsam {
 class GTSAM_UNSTABLE_EXPORT CSP : public DiscreteFactorGraph {
  public:
   /** A map from keys to values */
-  typedef KeyVector Indices;
   typedef Assignment<Key> Values;
   typedef boost::shared_ptr<Values> sharedValues;
 
  public:
-  //    /// Constructor
-  //    CSP() {
-  //    }
-
   /// Add a unary constraint, allowing only a single value
   void addSingleValue(const DiscreteKey& dkey, size_t value) {
-    boost::shared_ptr<SingleValue> factor(new SingleValue(dkey, value));
-    push_back(factor);
+    emplace_shared<SingleValue>(dkey, value);
   }
 
   /// Add a binary AllDiff constraint
   void addAllDiff(const DiscreteKey& key1, const DiscreteKey& key2) {
-    boost::shared_ptr<BinaryAllDiff> factor(new BinaryAllDiff(key1, key2));
-    push_back(factor);
+    emplace_shared<BinaryAllDiff>(key1, key2);
   }
 
   /// Add a general AllDiff constraint
-  void addAllDiff(const DiscreteKeys& dkeys) {
-    boost::shared_ptr<AllDiff> factor(new AllDiff(dkeys));
-    push_back(factor);
-  }
+  void addAllDiff(const DiscreteKeys& dkeys) { emplace_shared<AllDiff>(dkeys); }
 
   //    /** return product of all factors as a single factor */
   //    DecisionTreeFactor product() const {
@@ -56,10 +46,10 @@ class GTSAM_UNSTABLE_EXPORT CSP : public DiscreteFactorGraph {
   //      return result;
   //    }
 
-  /// Find the best total assignment - can be expensive
+  /// Find the best total assignment - can be expensive.
   sharedValues optimalAssignment() const;
 
-  /// Find the best total assignment - can be expensive
+  /// Find the best total assignment, with given ordering - can be expensive.
   sharedValues optimalAssignment(const Ordering& ordering) const;
 
   //    /*
@@ -78,7 +68,7 @@ class GTSAM_UNSTABLE_EXPORT CSP : public DiscreteFactorGraph {
    * Apply arc-consistency ~ Approximate loopy belief propagation
    * We need to give the domains to a constraint, and it returns
    * a domain whose values don't conflict in the arc-consistency way.
-   * TODO: should get cardinality from Indices
+   * TODO: should get cardinality from DiscreteKeys
    */
   void runArcConsistency(size_t cardinality, size_t nrIterations = 10,
                          bool print = false) const;