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Use emplace_back for More Efficient Vector Append #50

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Use emplace_back for More Efficient Vector Append #50

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11 changes: 6 additions & 5 deletions rednose/helpers/ekf_sym.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -98,11 +98,11 @@ std::optional<Estimate> EKFSym::predict_and_update_batch(double t, int kind, std
obs.t = t;
obs.kind = kind;
obs.extra_args = extra_args;
for (Map<VectorXd> zi : z_map) {
obs.z.push_back(zi);
for (const auto &zi : z_map) {
obs.z.emplace_back(zi);
}
for (Map<MatrixXdr> Ri : R_map) {
obs.R.push_back(Ri);
for (const auto &Ri : R_map) {
obs.R.emplace_back(Ri);
}

std::optional<Estimate> res = std::make_optional(this->predict_and_update_batch(obs, augment));
Expand Down Expand Up @@ -171,12 +171,13 @@ Estimate EKFSym::predict_and_update_batch(Observation& obs, bool augment) {

// update batch
std::vector<VectorXd> y;
y.reserve(obs.z.size());
for (int i = 0; i < obs.z.size(); i++) {
assert(obs.z[i].rows() == obs.R[i].rows());
assert(obs.z[i].rows() == obs.R[i].cols());

// update state
y.push_back(this->update(obs.kind, obs.z[i], obs.R[i], obs.extra_args[i]));
y.emplace_back(this->update(obs.kind, obs.z[i], obs.R[i], obs.extra_args[i]));
}

res.xk = this->x;
Expand Down