Remove unnecessary copy in deep copy

ut-amrl · Dec 7, 2023 · 95809f3 · 95809f3
1 parent f6b79c4
commit 95809f3
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Showing 2 changed files with 3 additions and 6 deletions.
diff --git a/include/refactoring/optimization/low_level_feature_pose_graph.h b/include/refactoring/optimization/low_level_feature_pose_graph.h
@@ -32,8 +32,7 @@ struct RobotPoseNode {
       : pose_(std::make_shared<RawPose3d<double>>(pose)) {}
 
   RobotPoseNode makeDeepCopy() const {
-    RawPose3d<double> pose_copy(*pose_);
-    return RobotPoseNode(pose_copy);
+    return RobotPoseNode(*pose_);
   }
 
   void updateRobotPoseParams(const RawPose3d<double> &pose) {
@@ -55,8 +54,7 @@ struct VisualFeatureNode {
       : position_(std::make_shared<Position3d<double>>(position)) {}
 
   VisualFeatureNode makeDeepCopy() const {
-    Position3d<double> position_copy(*position_);
-    return VisualFeatureNode(position_copy);
+    return VisualFeatureNode(*position_);
   }
 
   void updateVisualPositionParams(const Position3d<double> &position) {

diff --git a/include/refactoring/optimization/object_pose_graph.h b/include/refactoring/optimization/object_pose_graph.h
@@ -80,8 +80,7 @@ void updateEllipsoidParams(const RawEllipsoidPtr<double> &ellipsoid_ptr) {
 }
 
 EllipsoidEstimateNode makeDeepCopy() const {
-  RawEllipsoid<double> ellipsoid_copy(*ellipsoid_);
-  return EllipsoidEstimateNode(ellipsoid_copy);
+  return EllipsoidEstimateNode(*ellipsoid_);
 }
 };  // namespace vslam_types_refactor