createReducedModel: switch from std::map to std::unordered_map

robotology · Apr 18, 2024 · 36956df · 36956df
1 parent f1158d7
commit 36956df
Showing 5 changed files with 17 additions and 17 deletions.
diff --git a/src/model/include/iDynTree/ModelTransformers.h b/src/model/include/iDynTree/ModelTransformers.h
@@ -14,7 +14,7 @@
 #ifndef IDYNTREE_MODEL_TRANSFORMERS_H
 #define IDYNTREE_MODEL_TRANSFORMERS_H
 
-#include <map>
+#include <unordered_map>
 #include <string>
 #include <vector>
 
@@ -80,7 +80,7 @@ bool createReducedModel(const Model& fullModel,
 bool createReducedModel(const Model& fullModel,
                         const std::vector<std::string>& jointsInReducedModel,
                         Model& reducedModel,
-                        const std::map<std::string, double>& removedJointPositions);
+                        const std::unordered_map<std::string, double>& removedJointPositions);
 
 /**
  * @brief Given a specified base, return a model with a "normalized" joint numbering for that base.

diff --git a/src/model/src/ModelTransformers.cpp b/src/model/src/ModelTransformers.cpp
@@ -14,7 +14,7 @@
 #include <iDynTree/SixAxisForceTorqueSensor.h>
 
 #include <cassert>
-#include <map>
+#include <unordered_map>
 #include <set>
 #include <vector>
 
@@ -331,7 +331,7 @@ void reducedModelAddSolidShapes(const Model& fullModel,
 bool createReducedModel(const Model& fullModel,
                         const std::vector< std::string >& jointsInReducedModel,
                         Model& reducedModel,
-                        const std::map<std::string, double>& removedJointPositions)
+                        const std::unordered_map<std::string, double>& removedJointPositions)
 {
     // We use the default traversal for deciding the base links of the reduced model
     Traversal fullModelTraversal;
@@ -735,7 +735,7 @@ bool createReducedModel(const Model& fullModel,
                         const std::vector< std::string >& jointsInReducedModel,
                         Model& reducedModel)
 {
-    std::map<std::string, double> emptyRemovedJointPositions;
+    std::unordered_map<std::string, double> emptyRemovedJointPositions;
     return createReducedModel(fullModel, jointsInReducedModel, reducedModel, emptyRemovedJointPositions);
 }
 

diff --git a/src/model/tests/ModelUnitTest.cpp b/src/model/tests/ModelUnitTest.cpp
@@ -94,7 +94,7 @@ void getRandomSubsetOfJoints(const Model & model,
 
 void getRandomJointPositonsForJointsNotInReducedModels(const Model & fullModel,
                                                        const std::vector<std::string>& subsetOfJointsInReducedModel,
-                                                       std::map<std::string, double>& removedJointPositions,
+                                                       std::unordered_map<std::string, double>& removedJointPositions,
                                                        FreeFloatingPos& fullModelPos)
 {
     for(auto jntName: subsetOfJointsInReducedModel)
@@ -224,7 +224,7 @@ void checkReducedModel(const Model & model)
         getRandomSubsetOfJoints(model,jnts,jointInReducedModel);
 
         // Get random positions for reduced models
-        std::map<std::string, double> removedJointPositions;
+        std::unordered_map<std::string, double> removedJointPositions;
         getRandomJointPositonsForJointsNotInReducedModels(model, jointInReducedModel, removedJointPositions, fullPos);
 
         Model reducedModel;

diff --git a/src/model_io/codecs/include/iDynTree/ModelLoader.h b/src/model_io/codecs/include/iDynTree/ModelLoader.h
@@ -7,7 +7,7 @@
 #include <iDynTree/Model.h>
 #include <iDynTree/Sensors.h>
 
-#include <map>
+#include <unordered_map>
 #include <memory>
 #include <string>
 #include <vector>
@@ -222,7 +222,7 @@ class ModelLoader
      */
     bool loadReducedModelFromFullModel(const Model& fullModel,
                                        const std::vector<std::string> & consideredJoints,
-                                       const std::map<std::string, double>& removedJointPositions,
+                                       const std::unordered_map<std::string, double>& removedJointPositions,
                                        const std::string filetype="");
 
     /**
@@ -249,7 +249,7 @@ class ModelLoader
      */
     bool loadReducedModelFromString(const std::string modelString,
                                     const std::vector<std::string> & consideredJoints,
-                                    const std::map<std::string, double>& removedJointPositions,
+                                    const std::unordered_map<std::string, double>& removedJointPositions,
                                     const std::string filetype="",
                                     const std::vector<std::string>& packageDirs = {});
 
@@ -276,7 +276,7 @@ class ModelLoader
      */
     bool loadReducedModelFromFile(const std::string filename,
                                   const std::vector<std::string> & consideredJoints,
-                                  const std::map<std::string, double>& removedJointPositions,
+                                  const std::unordered_map<std::string, double>& removedJointPositions,
                                   const std::string filetype="",
                                   const std::vector<std::string>& packageDirs = {});
 

diff --git a/src/model_io/codecs/src/ModelLoader.cpp b/src/model_io/codecs/src/ModelLoader.cpp
@@ -129,7 +129,7 @@ namespace iDynTree
                                                     const std::vector< std::string >& consideredJoints,
                                                     const std::string filetype)
     {
-        std::map<std::string, double> emptyRemovedJointPositions;
+        std::unordered_map<std::string, double> emptyRemovedJointPositions;
         return this->loadReducedModelFromFullModel(fullModel, consideredJoints, emptyRemovedJointPositions, filetype);
     }
 
@@ -138,7 +138,7 @@ namespace iDynTree
                                                  const std::string filetype,
                                                  const std::vector<std::string>& packageDirs /*= {}*/)
     {
-        std::map<std::string, double> emptyRemovedJointPositions;
+        std::unordered_map<std::string, double> emptyRemovedJointPositions;
         return this->loadReducedModelFromString(modelString, consideredJoints, emptyRemovedJointPositions, filetype, packageDirs);
     }
 
@@ -147,13 +147,13 @@ namespace iDynTree
                                                const std::string filetype,
                                                const std::vector<std::string>& packageDirs /*= {}*/)
     {
-        std::map<std::string, double> emptyRemovedJointPositions;
+        std::unordered_map<std::string, double> emptyRemovedJointPositions;
         return this->loadReducedModelFromFile(filename, consideredJoints, emptyRemovedJointPositions, filetype, packageDirs);
     }
 
     bool ModelLoader::loadReducedModelFromFullModel(const Model& fullModel,
                                                     const std::vector< std::string >& consideredJoints,
-                                                    const std::map<std::string, double>& removedJointPositions,
+                                                    const std::unordered_map<std::string, double>& removedJointPositions,
                                                     const std::string /*filetype*/)
     {
         Model _modelReduced;
@@ -170,7 +170,7 @@ namespace iDynTree
 
     bool ModelLoader::loadReducedModelFromString(const std::string modelString,
                                                  const std::vector< std::string >& consideredJoints,
-                                                 const std::map<std::string, double>& removedJointPositions,
+                                                 const std::unordered_map<std::string, double>& removedJointPositions,
                                                  const std::string filetype,
                                                  const std::vector<std::string>& packageDirs /*= {}*/)
     {
@@ -192,7 +192,7 @@ namespace iDynTree
 
     bool ModelLoader::loadReducedModelFromFile(const std::string filename,
                                                const std::vector< std::string >& consideredJoints,
-                                               const std::map<std::string, double>& removedJointPositions,
+                                               const std::unordered_map<std::string, double>& removedJointPositions,
                                                const std::string filetype,
                                                const std::vector<std::string>& packageDirs /*= {}*/)
     {