fix: use shared_ptr & unordered_map, minimize hashmap search

ichiro-its · Dec 28, 2023 · 077dc07 · 077dc07
1 parent 7863a50
commit 077dc07
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/include/akushon/action/model/action.hpp b/include/akushon/action/model/action.hpp
@@ -63,7 +63,7 @@ class Action
   bool is_using_spline() const;
   void generate_splines();
 
-  std::map<uint8_t, keisan::SmoothSpline *> joint_splines;
+  std::unordered_map<uint8_t, std::shared_ptr<keisan::SmoothSpline>> joint_splines;
 
 private:
   std::string name;

diff --git a/src/akushon/action/model/action.cpp b/src/akushon/action/model/action.cpp
@@ -125,11 +125,11 @@ void Action::generate_splines()
   joint_splines.clear();
   for (auto pose : poses) {
     for (auto & joint : pose.get_joints()) {
-      uint8_t joint_id = joint.get_id();
-      if (joint_splines.find(joint_id) == joint_splines.end()) {
-        joint_splines[joint_id] = std::make_shared<keisan::SmoothSpline>().get();
+      const auto it = joint_splines.find(joint.get_id());
+      if (it == joint_splines.end()) {
+        joint_splines.emplace(joint.get_id(), std::make_shared<keisan::SmoothSpline>());
       }
-      joint_splines[joint_id]->add_point(joint.get_position(), pose.get_time());
+      it->second->add_point(joint.get_position(), pose.get_time());
     }
   }
 }