Hunt down std::map::emplace candidates

gtsam/base/DSFMap.h

@@ -50,7 +50,7 @@ class DSFMap {
     iterator it = entries_.find(key);
     // if key does not exist, create and return itself
     if (it == entries_.end()) {
-      it = entries_.insert(std::make_pair(key, empty)).first;
+      it = entries_.insert({key, empty}).first;
       it->second.parent_ = it;
       it->second.rank_ = 0;
     }

gtsam/base/FastMap.h

@@ -63,7 +63,7 @@ public:
   }
 
   /** Handy 'insert' function for Matlab wrapper */
-  bool insert2(const KEY& key, const VALUE& val) { return Base::insert(std::make_pair(key, val)).second; }
+  bool insert2(const KEY& key, const VALUE& val) { return Base::insert({key, val}).second; }
 
   /** Handy 'exists' function */
   bool exists(const KEY& e) const { return this->find(e) != this->end(); }

gtsam/base/timing.cpp

@@ -222,10 +222,9 @@ size_t getTicTocID(const char *descriptionC) {
   static gtsam::FastMap<std::string, size_t> idMap;
 
   // Retrieve or add this string
-  gtsam::FastMap<std::string, size_t>::const_iterator it = idMap.find(
+  auto it = idMap.find(description);
-      description);
   if (it == idMap.end()) {
-    it = idMap.insert(std::make_pair(description, nextId)).first;
+    it = idMap.insert({description, nextId}).first;
     ++nextId;
   }
 

gtsam/geometry/CameraSet.h

@@ -396,7 +396,7 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
 
     FastMap<Key, size_t> KeySlotMap;
     for (size_t slot = 0; slot < allKeys.size(); slot++)
-      KeySlotMap.insert(std::make_pair(allKeys[slot], slot));
+      KeySlotMap.emplace(allKeys[slot], slot);
 
     // Schur complement trick
     // G = F' * F - F' * E * P * E' * F

gtsam/inference/BayesTree-inst.h

@@ -245,7 +245,7 @@ namespace gtsam {
   void BayesTree<CLIQUE>::fillNodesIndex(const sharedClique& subtree) {
     // Add each frontal variable of this root node
     for(const Key& j: subtree->conditional()->frontals()) {
-      bool inserted = nodes_.insert(std::make_pair(j, subtree)).second;
+      bool inserted = nodes_.insert({j, subtree}).second;
       assert(inserted); (void)inserted;
     }
     // Fill index for each child

gtsam/inference/ClusterTree-inst.h

@@ -210,7 +210,7 @@ struct EliminationData {
       // putting orphan subtrees in the index - they'll already be in the index of the ISAM2
       // object they're added to.
       for (const Key& j: myData.bayesTreeNode->conditional()->frontals())
-        nodesIndex_.insert(std::make_pair(j, myData.bayesTreeNode));
+        nodesIndex_.emplace(j, myData.bayesTreeNode);
 
       // Store remaining factor in parent's gathered factors
       if (!eliminationResult.second->empty()) {

gtsam/inference/EliminationTree-inst.h

@@ -218,13 +218,13 @@ namespace gtsam {
     // Add roots in sorted order
     {
       FastMap<Key,sharedNode> keys;
-      for(const sharedNode& root: this->roots_) { keys.insert(std::make_pair(root->key, root)); }
+      for(const sharedNode& root: this->roots_) { keys.emplace(root->key, root); }
       typedef typename FastMap<Key,sharedNode>::value_type Key_Node;
       for(const Key_Node& key_node: keys) { stack1.push(key_node.second); }
     }
     {
       FastMap<Key,sharedNode> keys;
-      for(const sharedNode& root: expected.roots_) { keys.insert(std::make_pair(root->key, root)); }
+      for(const sharedNode& root: expected.roots_) { keys.emplace(root->key, root); }
       typedef typename FastMap<Key,sharedNode>::value_type Key_Node;
       for(const Key_Node& key_node: keys) { stack2.push(key_node.second); }
     }
@@ -258,13 +258,13 @@ namespace gtsam {
       // Add children in sorted order
       {
         FastMap<Key,sharedNode> keys;
-        for(const sharedNode& node: node1->children) { keys.insert(std::make_pair(node->key, node)); }
+        for(const sharedNode& node: node1->children) { keys.emplace(node->key, node); }
         typedef typename FastMap<Key,sharedNode>::value_type Key_Node;
         for(const Key_Node& key_node: keys) { stack1.push(key_node.second); }
       }
       {
         FastMap<Key,sharedNode> keys;
-        for(const sharedNode& node: node2->children) { keys.insert(std::make_pair(node->key, node)); }
+        for(const sharedNode& node: node2->children) { keys.emplace(node->key, node); }
         typedef typename FastMap<Key,sharedNode>::value_type Key_Node;
         for(const Key_Node& key_node: keys) { stack2.push(key_node.second); }
       }

gtsam/inference/VariableSlots.h

@@ -109,8 +109,7 @@ VariableSlots::VariableSlots(const FG& factorGraph)
       // we're combining.  Initially we put the max integer value in
       // the array entry for each factor that will indicate the factor
       // does not involve the variable.
-      iterator thisVarSlots; bool inserted;
+      auto [thisVarSlots, inserted] = this->insert({involvedVariable, FastVector<size_t>()});
-        std::tie(thisVarSlots, inserted) = this->insert(std::make_pair(involvedVariable, FastVector<size_t>()));
       if(inserted)
         thisVarSlots->second.resize(factorGraph.nrFactors(), Empty);
       thisVarSlots->second[jointFactorPos] = factorVarSlot;

gtsam/inference/graph-inl.h

@@ -126,13 +126,13 @@ predecessorMap2Graph(const PredecessorMap<KEY>& p_map) {
     std::tie(child,parent) = child_parent;
     if (key2vertex.find(child) == key2vertex.end()) {
        v1 = add_vertex(child, g);
-       key2vertex.insert(std::make_pair(child, v1));
+       key2vertex.emplace(child, v1);
      } else
        v1 = key2vertex[child];
 
     if (key2vertex.find(parent) == key2vertex.end()) {
        v2 = add_vertex(parent, g);
-       key2vertex.insert(std::make_pair(parent, v2));
+       key2vertex.emplace(parent, v2);
      } else
        v2 = key2vertex[parent];
 

gtsam/inference/graph.h

@@ -59,7 +59,7 @@ namespace gtsam {
   public:
     /** convenience insert so we can pass ints for TypedSymbol keys */
     inline void insert(const KEY& key, const KEY& parent) {
-      std::map<KEY, KEY>::insert(std::make_pair(key, parent));
+      std::map<KEY, KEY>::emplace(key, parent);
     }
   };
 

gtsam/linear/VectorValues.cpp

@@ -43,7 +43,7 @@ namespace gtsam {
 #ifdef TBB_GREATER_EQUAL_2020
       values_.emplace(key, x.segment(j, n));
 #else
-      values_.insert(std::make_pair(key, x.segment(j, n)));
+      values_.insert({key, x.segment(j, n)});
 #endif
       j += n;
     }
@@ -56,7 +56,7 @@ namespace gtsam {
 #ifdef TBB_GREATER_EQUAL_2020
       values_.emplace(v.key, x.segment(j, v.dimension));
 #else
-      values_.insert(std::make_pair(v.key, x.segment(j, v.dimension)));
+      values_.insert({v.key, x.segment(j, v.dimension)});
 #endif
       j += v.dimension;
     }
@@ -70,7 +70,7 @@ namespace gtsam {
 #ifdef TBB_GREATER_EQUAL_2020
       result.values_.emplace(key, Vector::Zero(value.size()));
 #else
-      result.values_.insert(std::make_pair(key, Vector::Zero(value.size())));
+      result.values_.insert({key, Vector::Zero(value.size())});
 #endif
     return result;
   }
@@ -267,7 +267,7 @@ namespace gtsam {
 #ifdef TBB_GREATER_EQUAL_2020
       result.values_.emplace(j1->first, j1->second + j2->second);
 #else
-      result.values_.insert(std::make_pair(j1->first, j1->second + j2->second));
+      result.values_.insert({j1->first, j1->second + j2->second});
 #endif
 
     return result;
@@ -329,7 +329,7 @@ namespace gtsam {
 #ifdef TBB_GREATER_EQUAL_2020
       result.values_.emplace(j1->first, j1->second - j2->second);
 #else
-      result.values_.insert(std::make_pair(j1->first, j1->second - j2->second));
+      result.values_.insert({j1->first, j1->second - j2->second});
 #endif
 
     return result;
@@ -349,7 +349,7 @@ namespace gtsam {
 #ifdef TBB_GREATER_EQUAL_2020
       result.values_.emplace(key_v.first, a * key_v.second);
 #else
-      result.values_.insert(std::make_pair(key_v.first, a * key_v.second));
+      result.values_.insert({key_v.first, a * key_v.second});
 #endif
     return result;
   }

gtsam/linear/VectorValues.h

@@ -186,7 +186,7 @@ namespace gtsam {
 #if ! defined(GTSAM_USE_TBB) || defined (TBB_GREATER_EQUAL_2020)
       return values_.emplace(std::piecewise_construct, std::forward_as_tuple(j), std::forward_as_tuple(args...));
 #else
-      return values_.insert(std::make_pair(j, Vector(std::forward<Args>(args)...)));
+      return values_.insert({j, Vector(std::forward<Args>(args)...)});
 #endif
     }
 
@@ -195,7 +195,7 @@ namespace gtsam {
      * @param value The vector to be inserted.
      * @param j The index with which the value will be associated. */
     iterator insert(Key j, const Vector& value) {
-      return insert(std::make_pair(j, value));
+      return insert({j, value});
     }
 
     /** Insert all values from \c values.  Throws an invalid_argument exception if any keys to be
@@ -210,7 +210,7 @@ namespace gtsam {
 #ifdef TBB_GREATER_EQUAL_2020
       return values_.emplace(j, value);
 #else
-      return values_.insert(std::make_pair(j, value));
+      return values_.insert({j, value});
 #endif
     }
 

gtsam/nonlinear/ISAM2.cpp

@@ -321,7 +321,7 @@ void ISAM2::recalculateIncremental(const ISAM2UpdateParams& updateParams,
     const int group =
         result->observedKeys.size() < affectedFactorsVarIndex.size() ? 1 : 0;
     for (Key var : result->observedKeys)
-      constraintGroups.insert(std::make_pair(var, group));
+      constraintGroups.emplace(var, group);
   }
 
   // Remove unaffected keys from the constraints