From bb2fdcdbfa9b31aeafc572cc25d9dc325a561ea6 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 11 Jul 2024 15:24:06 +0900 Subject: [PATCH] perf(dynamic_obstacle_stop): construct rtree nodes in place (#7753) Signed-off-by: Maxime CLEMENT --- .../src/footprint.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 index 73189e732b312..8f59160a56f2a 100644 --- 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 @@ -79,7 +79,7 @@ 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( 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); }