Replace make_pair with {}

gtsam/base/WeightedSampler.h

@@ -69,7 +69,7 @@ class WeightedSampler {
     static const double kexp1 = std::exp(1.0);
     for (auto it = weights.begin(); it != weights.begin() + numSamples; ++it) {
       const double k_i = kexp1 / *it;
-      reservoir.push(std::make_pair(k_i, it - weights.begin() + 1));
+      reservoir.push({k_i, it - weights.begin() + 1});
     }
 
     // Step 4: Repeat Steps 5–10 until the population is exhausted
@@ -110,7 +110,7 @@ class WeightedSampler {
         // Step 8: The item in reservoir with the minimum key is replaced by
         // item v_i
         reservoir.pop();
-        reservoir.push(std::make_pair(k_i, it - weights.begin() + 1));
+        reservoir.push({k_i, it - weights.begin() + 1});
       }
     }
 

gtsam/discrete/DecisionTree.h

@@ -424,10 +424,10 @@ namespace gtsam {
   template <typename L, typename T1, typename T2>
   std::pair<DecisionTree<L, T1>, DecisionTree<L, T2> > unzip(
       const DecisionTree<L, std::pair<T1, T2> >& input) {
-    return std::make_pair(
+    return {
         DecisionTree<L, T1>(input, [](std::pair<T1, T2> i) { return i.first; }),
-        DecisionTree<L, T2>(input,
-                            [](std::pair<T1, T2> i) { return i.second; }));
+        DecisionTree<L, T2>(input, [](std::pair<T1, T2> i) { return i.second; })
+    };
   }
 
 }  // namespace gtsam

gtsam/discrete/DiscreteFactorGraph.cpp

@@ -140,8 +140,7 @@ namespace gtsam {
                                                           orderedKeys, product);
     gttoc(lookup);
 
-    return std::make_pair(
-        std::dynamic_pointer_cast<DiscreteConditional>(lookup), max);
+    return {std::dynamic_pointer_cast<DiscreteConditional>(lookup), max};
   }
 
   /* ************************************************************************ */
@@ -223,7 +222,7 @@ namespace gtsam {
         std::make_shared<DiscreteConditional>(product, *sum, orderedKeys);
     gttoc(divide);
 
-    return std::make_pair(conditional, sum);
+    return {conditional, sum};
   }
 
   /* ************************************************************************ */

gtsam/geometry/CalibratedCamera.h

@@ -223,7 +223,7 @@ public:
    * @return a pair of [start, end] indices into the tangent space vector
    */
   inline static std::pair<size_t, size_t> translationInterval() {
-    return std::make_pair(3, 5);
+    return {3, 5};
   }
 
   /// @}

gtsam/geometry/Pose2.h

@@ -309,14 +309,14 @@ public:
    * exponential map parameterization
    * @return a pair of [start, end] indices into the tangent space vector
    */
-  inline static std::pair<size_t, size_t> translationInterval() { return std::make_pair(0, 1); }
+  inline static std::pair<size_t, size_t> translationInterval() { return {0, 1}; }
 
   /**
    * Return the start and end indices (inclusive) of the rotation component of the
    * exponential map parameterization
    * @return a pair of [start, end] indices into the tangent space vector
    */
-  static std::pair<size_t, size_t> rotationInterval() { return std::make_pair(2, 2); }
+  static std::pair<size_t, size_t> rotationInterval() { return {2, 2}; }
 
   /// Output stream operator
   GTSAM_EXPORT

gtsam/geometry/Pose3.h

@@ -364,7 +364,7 @@ public:
    * @return a pair of [start, end] indices into the tangent space vector
    */
   inline static std::pair<size_t, size_t> translationInterval() {
-    return std::make_pair(3, 5);
+    return {3, 5};
   }
 
   /**
@@ -373,7 +373,7 @@ public:
    * @return a pair of [start, end] indices into the tangent space vector
    */
   static std::pair<size_t, size_t> rotationInterval() {
-    return std::make_pair(0, 2);
+    return {0, 2};
   }
 
     /**

gtsam/geometry/tests/testPoint3.cpp

@@ -176,7 +176,7 @@ TEST(Point3, mean) {
 
 TEST(Point3, mean_pair) {
   Point3 a_mean(2, 2, 2), b_mean(-1, 1, 0);
-  Point3Pair expected = std::make_pair(a_mean, b_mean);
+  Point3Pair expected = {a_mean, b_mean};
   Point3 a1(0, 0, 0), a2(1, 2, 3), a3(5, 4, 3);
   Point3 b1(-1, 0, 0), b2(-2, 4, 0), b3(0, -1, 0);
   std::vector<Point3Pair> point_pairs{{a1, b1}, {a2, b2}, {a3, b3}};

gtsam/geometry/triangulation.h

@@ -137,7 +137,7 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
     graph.emplace_shared<TriangulationFactor<Camera> > //
         (camera_i, measurements[i], model, landmarkKey);
   }
-  return std::make_pair(graph, values);
+  return {graph, values};
 }
 
 /**
@@ -165,7 +165,7 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
     graph.emplace_shared<TriangulationFactor<CAMERA> > //
         (camera_i, measurements[i], model? model : unit, landmarkKey);
   }
-  return std::make_pair(graph, values);
+  return {graph, values};
 }
 
 /**

gtsam/inference/ClusterTree-inst.h

@@ -273,7 +273,7 @@ EliminatableClusterTree<BAYESTREE, GRAPH>::eliminate(const Eliminate& function)
   }
 
   // Return result
-  return std::make_pair(result, remaining);
+  return {result, remaining};
 }
 
 } // namespace gtsam

gtsam/linear/SubgraphBuilder.cpp

@@ -473,7 +473,7 @@ std::pair<GaussianFactorGraph, GaussianFactorGraph> splitFactorGraph(
     remaining.remove(e.index);
   }
 
-  return std::make_pair(subgraphFactors, remaining);
+  return {subgraphFactors, remaining};
 }
 
 /*****************************************************************************/

gtsam/nonlinear/Expression-inl.h

@@ -229,7 +229,7 @@ typename Expression<T>::KeysAndDims Expression<T>::keysAndDims() const {
   std::map<Key, int> map;
   dims(map);
   size_t n = map.size();
-  KeysAndDims pair = std::make_pair(KeyVector(n), FastVector<int>(n));
+  KeysAndDims pair = {KeyVector(n), FastVector<int>(n)};
   // Copy map into pair of vectors
   auto key_it = pair.first.begin();
   auto dim_it = pair.second.begin();

gtsam/sfm/MFAS.cpp

@@ -116,7 +116,7 @@ MFAS::MFAS(const TranslationEdges& relativeTranslations,
   // Iterate over edges, obtain weights by projecting
   // their relativeTranslations along the projection direction
   for (const auto& measurement : relativeTranslations) {
-    edgeWeights_[std::make_pair(measurement.key1(), measurement.key2())] =
+    edgeWeights_[{measurement.key1(), measurement.key2()}] =
         measurement.measured().dot(projectionDirection);
   }
 }

gtsam/sfm/ShonanAveraging.cpp

@@ -755,7 +755,7 @@ std::pair<double, Vector> ShonanAveraging<d>::computeMinEigenVector(
     const Values &values) const {
   Vector minEigenVector;
   double minEigenValue = computeMinEigenValue(values, &minEigenVector);
-  return std::make_pair(minEigenValue, minEigenVector);
+  return {minEigenValue, minEigenVector};
 }
 
 /* ************************************************************************* */
@@ -908,7 +908,7 @@ std::pair<Values, double> ShonanAveraging<d>::run(const Values &initialEstimate,
             "When using robust norm, Shonan only tests a single rank. Set pMin = pMax");
       }
       const Values SO3Values = roundSolution(Qstar);
-      return std::make_pair(SO3Values, 0);
+      return {SO3Values, 0};
     } else {
       // Check certificate of global optimality
       Vector minEigenVector;
@@ -916,7 +916,7 @@ std::pair<Values, double> ShonanAveraging<d>::run(const Values &initialEstimate,
       if (minEigenValue > parameters_.optimalityThreshold) {
         // If at global optimum, round and return solution
         const Values SO3Values = roundSolution(Qstar);
-        return std::make_pair(SO3Values, minEigenValue);
+        return {SO3Values, minEigenValue};
       }
 
       // Not at global optimimum yet, so check whether we will go to next level

gtsam/slam/RegularImplicitSchurFactor.h

@@ -148,7 +148,7 @@ public:
   std::pair<Matrix, Vector> jacobian() const override {
     throw std::runtime_error(
         "RegularImplicitSchurFactor::jacobian non implemented");
-    return std::make_pair(Matrix(), Vector());
+    return {Matrix(), Vector()};
   }
 
   /// *Compute* full augmented information matrix

gtsam/symbolic/SymbolicFactor-inst.h

@@ -61,9 +61,10 @@ namespace gtsam
       std::set_difference(allKeys.begin(), allKeys.end(), frontals.begin(), frontals.end(), orderedKeys.begin() + nFrontals);
 
       // Return resulting conditional and factor
-      return std::make_pair(
+      return {
         SymbolicConditional::FromKeysShared(orderedKeys, nFrontals),
-        SymbolicFactor::FromIteratorsShared(orderedKeys.begin() + nFrontals, orderedKeys.end()));
+        SymbolicFactor::FromIteratorsShared(orderedKeys.begin() + nFrontals, orderedKeys.end())
+      };
     }
   }
 }