perf(control): use emplace/emplace_back to avoid temporary object creation (#12236)

Signed-off-by: nishikawa-masaki <masaki.nishikawa@tier4.jp>

Author: nishikawa-masaki

control/autoware_collision_detector/src/node.cpp

@@ -67,7 +67,7 @@ autoware_utils_geometry::Polygon2d createObjPolygon(
 
   autoware_utils_geometry::Polygon2d object_polygon;
   for (const auto & p : transformed_polygon.points) {
-    object_polygon.outer().push_back(autoware_utils_geometry::Point2d(p.x, p.y));
+    object_polygon.outer().emplace_back(p.x, p.y);
   }
 
   bg::correct(object_polygon);
@@ -119,10 +119,10 @@ autoware_utils_geometry::Polygon2d createSelfPolygon(
 
   autoware_utils_geometry::Polygon2d ego_polygon;
 
-  ego_polygon.outer().push_back(autoware_utils_geometry::Point2d(front_m, width_left_m));
-  ego_polygon.outer().push_back(autoware_utils_geometry::Point2d(front_m, width_right_m));
-  ego_polygon.outer().push_back(autoware_utils_geometry::Point2d(rear_m, width_right_m));
-  ego_polygon.outer().push_back(autoware_utils_geometry::Point2d(rear_m, width_left_m));
+  ego_polygon.outer().emplace_back(front_m, width_left_m);
+  ego_polygon.outer().emplace_back(front_m, width_right_m);
+  ego_polygon.outer().emplace_back(rear_m, width_right_m);
+  ego_polygon.outer().emplace_back(rear_m, width_left_m);
 
   bg::correct(ego_polygon);
 

control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp

@@ -921,7 +921,7 @@ autoware_control_msgs::msg::Longitudinal PidLongitudinalController::createCtrlCm
   cmd.acceleration = static_cast<decltype(cmd.acceleration)>(ctrl_cmd.acc);
 
   // store current velocity history
-  m_vel_hist.push_back({clock_->now(), current_vel});
+  m_vel_hist.emplace_back(clock_->now(), current_vel);
   while (m_vel_hist.size() >
          static_cast<size_t>(m_delay_compensation_time / m_longitudinal_ctrl_period)) {
     m_vel_hist.erase(m_vel_hist.begin());