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perf(control): use emplace/emplace_back to avoid temporary object creation #12236

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perf(control): use emplace/emplace_back to avoid temporary object creation #12236

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4f998f7
perf(control): emplace/emplace_back to avoid temporary object creation
nishikawa-masaki Mar 4, 2026
ab8824e
Merge branch 'main' into perf/optimize-emplace-usage-control
nishikawa-masaki Mar 18, 2026
0a6679d
Merge branch 'main' into perf/optimize-emplace-usage-control
nishikawa-masaki Mar 19, 2026
d68c2c5
Merge branch 'main' into perf/optimize-emplace-usage-control
nishikawa-masaki Mar 23, 2026
28dfc5d
Merge branch 'main' into perf/optimize-emplace-usage-control
nishikawa-masaki Mar 25, 2026
64ccc47
Merge branch 'main' into perf/optimize-emplace-usage-control
nishikawa-masaki Mar 26, 2026
0dcddd8
Merge branch 'main' into perf/optimize-emplace-usage-control
nishikawa-masaki Apr 3, 2026
60e6a35
Merge branch 'main' into perf/optimize-emplace-usage-control
nishikawa-masaki Apr 14, 2026
fbb0eb8
Merge branch 'main' into perf/optimize-emplace-usage-control
nishikawa-masaki Apr 17, 2026
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10 changes: 5 additions & 5 deletions control/autoware_collision_detector/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ autoware_utils_geometry::Polygon2d createObjPolygon(

autoware_utils_geometry::Polygon2d object_polygon;
for (const auto & p : transformed_polygon.points) {
object_polygon.outer().push_back(autoware_utils_geometry::Point2d(p.x, p.y));
object_polygon.outer().emplace_back(p.x, p.y);
}

bg::correct(object_polygon);
Expand Down Expand Up @@ -119,10 +119,10 @@ autoware_utils_geometry::Polygon2d createSelfPolygon(

autoware_utils_geometry::Polygon2d ego_polygon;

ego_polygon.outer().push_back(autoware_utils_geometry::Point2d(front_m, width_left_m));
ego_polygon.outer().push_back(autoware_utils_geometry::Point2d(front_m, width_right_m));
ego_polygon.outer().push_back(autoware_utils_geometry::Point2d(rear_m, width_right_m));
ego_polygon.outer().push_back(autoware_utils_geometry::Point2d(rear_m, width_left_m));
ego_polygon.outer().emplace_back(front_m, width_left_m);
ego_polygon.outer().emplace_back(front_m, width_right_m);
ego_polygon.outer().emplace_back(rear_m, width_right_m);
ego_polygon.outer().emplace_back(rear_m, width_left_m);

bg::correct(ego_polygon);

Expand Down
2 changes: 1 addition & 1 deletion control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
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Expand Up @@ -921,7 +921,7 @@ autoware_control_msgs::msg::Longitudinal PidLongitudinalController::createCtrlCm
cmd.acceleration = static_cast<decltype(cmd.acceleration)>(ctrl_cmd.acc);

// store current velocity history
m_vel_hist.push_back({clock_->now(), current_vel});
m_vel_hist.emplace_back(clock_->now(), current_vel);
while (m_vel_hist.size() >
static_cast<size_t>(m_delay_compensation_time / m_longitudinal_ctrl_period)) {
m_vel_hist.erase(m_vel_hist.begin());
Expand Down
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