Merge pull request #203 from Simple-Robotics/topic/same-map-types

Change all map types to boost::unordered_map

Author: ManifoldFR

CHANGELOG.md

@@ -7,6 +7,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Changed
+
+- All map types are now `boost::unordered_map` ([#203](https://github.com/Simple-Robotics/aligator/pull/203))
+
 ## [0.8.0] - 2024-09-18
 
 ### Added

include/aligator/solvers/fddp/solver-fddp.hpp

@@ -15,7 +15,7 @@
 #include "aligator/utils/logger.hpp"
 #include "aligator/threads.hpp"
 
-#include <unordered_map>
+#include <boost/unordered_map.hpp>
 
 /// @brief  A warning for the FDDP module.
 #define ALIGATOR_FDDP_WARNING(msg) ALIGATOR_WARNING("SolverFDDP", msg)
@@ -42,7 +42,7 @@ template <typename Scalar> struct SolverFDDPTpl {
   using ExpModel = ExplicitDynamicsModelTpl<Scalar>;
   using ExplicitDynamicsData = ExplicitDynamicsDataTpl<Scalar>;
   using CallbackPtr = shared_ptr<CallbackBaseTpl<Scalar>>;
-  using CallbackMap = std::unordered_map<std::string, CallbackPtr>;
+  using CallbackMap = boost::unordered_map<std::string, CallbackPtr>;
 
   Scalar target_tol_;
 

include/aligator/solvers/proxddp/solver-proxddp.hpp

@@ -16,7 +16,7 @@
 
 #include <proxsuite-nlp/bcl-params.hpp>
 
-#include <unordered_map>
+#include <boost/unordered_map.hpp>
 
 namespace aligator {
 namespace gar {
@@ -58,7 +58,7 @@ template <typename _Scalar> struct SolverProxDDPTpl {
   using ConstraintType = StageConstraintTpl<Scalar>;
   using StageData = StageDataTpl<Scalar>;
   using CallbackPtr = shared_ptr<CallbackBaseTpl<Scalar>>;
-  using CallbackMap = std::unordered_map<std::string, CallbackPtr>;
+  using CallbackMap = boost::unordered_map<std::string, CallbackPtr>;
   using ConstraintStack = ConstraintStackTpl<Scalar>;
   using CstrSet = ConstraintSetBase<Scalar>;
   using TrajOptData = TrajOptDataTpl<Scalar>;

include/aligator/utils/logger.hpp

@@ -5,7 +5,7 @@
 #include <array>
 #include <string_view>
 #include <vector>
-#include <map>
+#include <boost/unordered_map.hpp>
 
 namespace aligator {
 using uint = unsigned int;
@@ -54,8 +54,9 @@ struct Logger {
 protected:
   // sizes and formats
   std::vector<std::string_view> m_colNames;
-  std::map<std::string_view, std::pair<uint, std::string>> m_colSpecs;
-  std::map<std::string_view, std::string> m_currentLine;
+  boost::unordered_map<std::string_view, std::pair<uint, std::string>>
+      m_colSpecs;
+  boost::unordered_map<std::string_view, std::string> m_currentLine;
 };
 
 } // namespace aligator