perf(lanelet2_map_preprocessor): use set.find instead of std::find (#7033)

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Author: maxime-clem

map/util/lanelet2_map_preprocessor/src/fix_lane_change_tags.cpp

@@ -48,11 +48,6 @@ bool loadLaneletMap(
   return true;
 }
 
-bool exists(std::unordered_set<lanelet::Id> & set, lanelet::Id element)
-{
-  return std::find(set.begin(), set.end(), element) != set.end();
-}
-
 lanelet::Lanelets convertToVector(lanelet::LaneletMapPtr & lanelet_map_ptr)
 {
   lanelet::Lanelets lanelets;

map/util/lanelet2_map_preprocessor/src/fix_z_value_by_pcd.cpp

@@ -91,11 +91,6 @@ double getMinHeightAroundPoint(
   return min_height;
 }
 
-bool exists(std::unordered_set<lanelet::Id> & set, lanelet::Id element)
-{
-  return std::find(set.begin(), set.end(), element) != set.end();
-}
-
 void adjustHeight(
   const pcl::PointCloud<pcl::PointXYZ>::Ptr & pcd_map_ptr, lanelet::LaneletMapPtr & lanelet_map_ptr)
 {
@@ -108,7 +103,7 @@ void adjustHeight(
 
   for (lanelet::Lanelet & llt : lanelet_map_ptr->laneletLayer) {
     for (lanelet::Point3d & pt : llt.leftBound()) {
-      if (exists(done, pt.id())) {
+      if (done.find(pt.id()) != done.end()) {
         continue;
       }
       pcl::PointXYZ pcl_pt;
@@ -122,7 +117,7 @@ void adjustHeight(
       done.insert(pt.id());
     }
     for (lanelet::Point3d & pt : llt.rightBound()) {
-      if (exists(done, pt.id())) {
+      if (done.find(pt.id()) != done.end()) {
         continue;
       }
       pcl::PointXYZ pcl_pt;

map/util/lanelet2_map_preprocessor/src/merge_close_lines.cpp

@@ -49,7 +49,7 @@ bool loadLaneletMap(
 
 bool exists(std::unordered_set<lanelet::Id> & set, lanelet::Id element)
 {
-  return std::find(set.begin(), set.end(), element) != set.end();
+  return set.find(element) != set.end();
 }
 
 lanelet::LineStrings3d convertLineLayerToLineStrings(lanelet::LaneletMapPtr & lanelet_map_ptr)

map/util/lanelet2_map_preprocessor/src/merge_close_points.cpp

@@ -45,7 +45,7 @@ bool loadLaneletMap(
 
 bool exists(std::unordered_set<lanelet::Id> & set, lanelet::Id element)
 {
-  return std::find(set.begin(), set.end(), element) != set.end();
+  return set.find(element) != set.end();
 }
 
 lanelet::Points3d convertPointsLayerToPoints(lanelet::LaneletMapPtr & lanelet_map_ptr)

map/util/lanelet2_map_preprocessor/src/remove_unreferenced_geometry.cpp

@@ -43,11 +43,6 @@ bool loadLaneletMap(
   return true;
 }
 
-bool exists(std::unordered_set<lanelet::Id> & set, lanelet::Id element)
-{
-  return std::find(set.begin(), set.end(), element) != set.end();
-}
-
 lanelet::Points3d convertPointsLayerToPoints(lanelet::LaneletMapPtr & lanelet_map_ptr)
 {
   lanelet::Points3d points;