From 6c0cab25a343b3504ca2b464c306b3fbc381f360 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Feb 2023 09:08:34 -0800 Subject: [PATCH] Replace make_pair with {} --- gtsam/base/WeightedSampler.h | 4 ++-- gtsam/discrete/DecisionTree.h | 6 +++--- gtsam/discrete/DiscreteFactorGraph.cpp | 5 ++--- gtsam/geometry/CalibratedCamera.h | 2 +- gtsam/geometry/Pose2.h | 4 ++-- gtsam/geometry/Pose3.h | 4 ++-- gtsam/geometry/tests/testPoint3.cpp | 2 +- gtsam/geometry/triangulation.h | 4 ++-- gtsam/inference/ClusterTree-inst.h | 2 +- gtsam/linear/SubgraphBuilder.cpp | 2 +- gtsam/nonlinear/Expression-inl.h | 2 +- gtsam/sfm/MFAS.cpp | 2 +- gtsam/sfm/ShonanAveraging.cpp | 6 +++--- gtsam/slam/RegularImplicitSchurFactor.h | 2 +- gtsam/symbolic/SymbolicFactor-inst.h | 5 +++-- 15 files changed, 26 insertions(+), 26 deletions(-) diff --git a/gtsam/base/WeightedSampler.h b/gtsam/base/WeightedSampler.h index 7c343b098..790dae3a9 100644 --- a/gtsam/base/WeightedSampler.h +++ b/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}); } } diff --git a/gtsam/discrete/DecisionTree.h b/gtsam/discrete/DecisionTree.h index f3949b512..ed1908485 100644 --- a/gtsam/discrete/DecisionTree.h +++ b/gtsam/discrete/DecisionTree.h @@ -424,10 +424,10 @@ namespace gtsam { template std::pair, DecisionTree > unzip( const DecisionTree >& input) { - return std::make_pair( + return { DecisionTree(input, [](std::pair i) { return i.first; }), - DecisionTree(input, - [](std::pair i) { return i.second; })); + DecisionTree(input, [](std::pair i) { return i.second; }) + }; } } // namespace gtsam diff --git a/gtsam/discrete/DiscreteFactorGraph.cpp b/gtsam/discrete/DiscreteFactorGraph.cpp index 0501cd12e..6c7b6456e 100644 --- a/gtsam/discrete/DiscreteFactorGraph.cpp +++ b/gtsam/discrete/DiscreteFactorGraph.cpp @@ -140,8 +140,7 @@ namespace gtsam { orderedKeys, product); gttoc(lookup); - return std::make_pair( - std::dynamic_pointer_cast(lookup), max); + return {std::dynamic_pointer_cast(lookup), max}; } /* ************************************************************************ */ @@ -223,7 +222,7 @@ namespace gtsam { std::make_shared(product, *sum, orderedKeys); gttoc(divide); - return std::make_pair(conditional, sum); + return {conditional, sum}; } /* ************************************************************************ */ diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index 277c865c5..aa2ebd270 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/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 translationInterval() { - return std::make_pair(3, 5); + return {3, 5}; } /// @} diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h index e3ff1416c..c3f588dcc 100644 --- a/gtsam/geometry/Pose2.h +++ b/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 translationInterval() { return std::make_pair(0, 1); } + inline static std::pair 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 rotationInterval() { return std::make_pair(2, 2); } + static std::pair rotationInterval() { return {2, 2}; } /// Output stream operator GTSAM_EXPORT diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h index 35a9ea301..d30ea38b5 100644 --- a/gtsam/geometry/Pose3.h +++ b/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 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 rotationInterval() { - return std::make_pair(0, 2); + return {0, 2}; } /** diff --git a/gtsam/geometry/tests/testPoint3.cpp b/gtsam/geometry/tests/testPoint3.cpp index ad9f29620..b19aa0add 100644 --- a/gtsam/geometry/tests/testPoint3.cpp +++ b/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 point_pairs{{a1, b1}, {a2, b2}, {a3, b3}}; diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h index 05c66f8df..e30ff3c47 100644 --- a/gtsam/geometry/triangulation.h +++ b/gtsam/geometry/triangulation.h @@ -137,7 +137,7 @@ std::pair triangulationGraph( graph.emplace_shared > // (camera_i, measurements[i], model, landmarkKey); } - return std::make_pair(graph, values); + return {graph, values}; } /** @@ -165,7 +165,7 @@ std::pair triangulationGraph( graph.emplace_shared > // (camera_i, measurements[i], model? model : unit, landmarkKey); } - return std::make_pair(graph, values); + return {graph, values}; } /** diff --git a/gtsam/inference/ClusterTree-inst.h b/gtsam/inference/ClusterTree-inst.h index b16a2a66f..8b72370fc 100644 --- a/gtsam/inference/ClusterTree-inst.h +++ b/gtsam/inference/ClusterTree-inst.h @@ -273,7 +273,7 @@ EliminatableClusterTree::eliminate(const Eliminate& function) } // Return result - return std::make_pair(result, remaining); + return {result, remaining}; } } // namespace gtsam diff --git a/gtsam/linear/SubgraphBuilder.cpp b/gtsam/linear/SubgraphBuilder.cpp index 97d681547..a0edd1a18 100644 --- a/gtsam/linear/SubgraphBuilder.cpp +++ b/gtsam/linear/SubgraphBuilder.cpp @@ -473,7 +473,7 @@ std::pair splitFactorGraph( remaining.remove(e.index); } - return std::make_pair(subgraphFactors, remaining); + return {subgraphFactors, remaining}; } /*****************************************************************************/ diff --git a/gtsam/nonlinear/Expression-inl.h b/gtsam/nonlinear/Expression-inl.h index e933be5e1..e5bfb9261 100644 --- a/gtsam/nonlinear/Expression-inl.h +++ b/gtsam/nonlinear/Expression-inl.h @@ -229,7 +229,7 @@ typename Expression::KeysAndDims Expression::keysAndDims() const { std::map map; dims(map); size_t n = map.size(); - KeysAndDims pair = std::make_pair(KeyVector(n), FastVector(n)); + KeysAndDims pair = {KeyVector(n), FastVector(n)}; // Copy map into pair of vectors auto key_it = pair.first.begin(); auto dim_it = pair.second.begin(); diff --git a/gtsam/sfm/MFAS.cpp b/gtsam/sfm/MFAS.cpp index 913752d8a..9e7214046 100644 --- a/gtsam/sfm/MFAS.cpp +++ b/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); } } diff --git a/gtsam/sfm/ShonanAveraging.cpp b/gtsam/sfm/ShonanAveraging.cpp index f8cd9fc9c..59e3a0849 100644 --- a/gtsam/sfm/ShonanAveraging.cpp +++ b/gtsam/sfm/ShonanAveraging.cpp @@ -755,7 +755,7 @@ std::pair ShonanAveraging::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 ShonanAveraging::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 ShonanAveraging::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 diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index 9f48d01aa..924aaa1cf 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -148,7 +148,7 @@ public: std::pair 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 diff --git a/gtsam/symbolic/SymbolicFactor-inst.h b/gtsam/symbolic/SymbolicFactor-inst.h index 85ddf9c79..db0eb05ca 100644 --- a/gtsam/symbolic/SymbolicFactor-inst.h +++ b/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()) + }; } } }