From 329041d724ee39ef9cc2d516700f2a00bfa605a0 Mon Sep 17 00:00:00 2001
From: zubingtan <zubingtan@pony.ai>
Date: Mon, 27 Mar 2023 11:59:18 +0800
Subject: [PATCH] use auto for map for-loop

1. reserve vector size in DecisionTreeFactor::apply
2. use auto in range-base for-loop to avoid implictly conversion in VectorValues and DecisionTreeFactor. Some format issues are address, too (add spaces).
---
 gtsam/discrete/DecisionTreeFactor.cpp |  5 ++++-
 gtsam/linear/VectorValues.cpp         | 21 ++++++++++-----------
 2 files changed, 14 insertions(+), 12 deletions(-)

diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
index cb6c7761e..5fb5ae2e6 100644
--- a/gtsam/discrete/DecisionTreeFactor.cpp
+++ b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -94,7 +94,10 @@ namespace gtsam {
     for (Key j : f.keys()) cs[j] = f.cardinality(j);
     // Convert map into keys
     DiscreteKeys keys;
-    for (const std::pair<const Key, size_t>& key : cs) keys.push_back(key);
+    keys.reserve(cs.size());
+    for (const auto& key : cs) {
+      keys.emplace_back(key);
+    }
     // apply operand
     ADT result = ADT::apply(f, op);
     // Make a new factor
diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp
index 482654471..075e3b9ec 100644
--- a/gtsam/linear/VectorValues.cpp
+++ b/gtsam/linear/VectorValues.cpp
@@ -41,7 +41,7 @@ namespace gtsam {
   /* ************************************************************************ */
   VectorValues::VectorValues(const Vector& x, const Dims& dims) {
     size_t j = 0;
-    for (const auto& [key,n] : dims)  {
+    for (const auto& [key, n] : dims) {
 #ifdef TBB_GREATER_EQUAL_2020
       values_.emplace(key, x.segment(j, n));
 #else
@@ -68,7 +68,7 @@ namespace gtsam {
   VectorValues VectorValues::Zero(const VectorValues& other)
   {
     VectorValues result;
-    for(const auto& [key,value]: other)
+    for (const auto& [key, value] : other)
 #ifdef TBB_GREATER_EQUAL_2020
       result.values_.emplace(key, Vector::Zero(value.size()));
 #else
@@ -79,7 +79,7 @@ namespace gtsam {
 
   /* ************************************************************************ */
   VectorValues::iterator VectorValues::insert(const std::pair<Key, Vector>& key_value) {
-    std::pair<iterator, bool> result = values_.insert(key_value);
+    const std::pair<iterator, bool> result = values_.insert(key_value);
     if(!result.second)
       throw std::invalid_argument(
       "Requested to insert variable '" + DefaultKeyFormatter(key_value.first)
@@ -90,7 +90,7 @@ namespace gtsam {
   /* ************************************************************************ */
   VectorValues& VectorValues::update(const VectorValues& values) {
     iterator hint = begin();
-    for (const auto& [key,value] : values) {
+    for (const auto& [key, value] : values) {
       // Use this trick to find the value using a hint, since we are inserting
       // from another sorted map
       size_t oldSize = values_.size();
@@ -131,10 +131,10 @@ namespace gtsam {
     // Change print depending on whether we are using TBB
 #ifdef GTSAM_USE_TBB
     std::map<Key, Vector> sorted;
-    for (const auto& [key,value] : v) {
+    for (const auto& [key, value] : v) {
       sorted.emplace(key, value);
     }
-    for (const auto& [key,value] : sorted)
+    for (const auto& [key, value] : sorted)
 #else
     for (const auto& [key,value] : v)
 #endif
@@ -344,14 +344,13 @@ namespace gtsam {
   }
 
   /* ************************************************************************ */
-  VectorValues operator*(const double a, const VectorValues &v)
-  {
+  VectorValues operator*(const double a, const VectorValues& c) {
     VectorValues result;
-    for(const VectorValues::KeyValuePair& key_v: v)
+    for (const auto& [key, value] : c)
 #ifdef TBB_GREATER_EQUAL_2020
-      result.values_.emplace(key_v.first, a * key_v.second);
+      result.values_.emplace(key, a * value);
 #else
-      result.values_.insert({key_v.first, a * key_v.second});
+      result.values_.insert({key, a * value});
 #endif
     return result;
   }