1 files changed, 25 insertions, 30 deletions

diff --git a/extern/ceres/internal/ceres/graph.h b/extern/ceres/internal/ceres/graph.h
index b96b67265cb..4e1fd81c1ea 100644
--- a/extern/ceres/internal/ceres/graph.h
+++ b/extern/ceres/internal/ceres/graph.h
@@ -32,11 +32,11 @@
 #define CERES_INTERNAL_GRAPH_H_
 
 #include <limits>
+#include <unordered_set>
+#include <unordered_map>
 #include <utility>
-#include "ceres/integral_types.h"
 #include "ceres/map_util.h"
-#include "ceres/collections_port.h"
-#include "ceres/internal/macros.h"
+#include "ceres/pair_hash.h"
 #include "ceres/types.h"
 #include "glog/logging.h"
 
@@ -53,7 +53,7 @@ class Graph {
   // Add a vertex.
   void AddVertex(const Vertex& vertex) {
     if (vertices_.insert(vertex).second) {
-      edges_[vertex] = HashSet<Vertex>();
+      edges_[vertex] = std::unordered_set<Vertex>();
     }
   }
 
@@ -63,10 +63,9 @@ class Graph {
     }
 
     vertices_.erase(vertex);
-    const HashSet<Vertex>& sinks = edges_[vertex];
-    for (typename HashSet<Vertex>::const_iterator it = sinks.begin();
-         it != sinks.end(); ++it) {
-      edges_[*it].erase(vertex);
+    const std::unordered_set<Vertex>& sinks = edges_[vertex];
+    for (const Vertex& s : sinks) {
+      edges_[s].erase(vertex);
     }
 
     edges_.erase(vertex);
@@ -90,19 +89,17 @@ class Graph {
 
   // Calling Neighbors on a vertex not in the graph will result in
   // undefined behaviour.
-  const HashSet<Vertex>& Neighbors(const Vertex& vertex) const {
+  const std::unordered_set<Vertex>& Neighbors(const Vertex& vertex) const {
     return FindOrDie(edges_, vertex);
   }
 
-  const HashSet<Vertex>& vertices() const {
+  const std::unordered_set<Vertex>& vertices() const {
     return vertices_;
   }
 
  private:
-  HashSet<Vertex> vertices_;
-  HashMap<Vertex, HashSet<Vertex> > edges_;
-
-  CERES_DISALLOW_COPY_AND_ASSIGN(Graph);
+  std::unordered_set<Vertex> vertices_;
+  std::unordered_map<Vertex, std::unordered_set<Vertex>> edges_;
 };
 
 // A weighted undirected graph templated over the vertex ids. Vertex
@@ -117,7 +114,7 @@ class WeightedGraph {
   void AddVertex(const Vertex& vertex, double weight) {
     if (vertices_.find(vertex) == vertices_.end()) {
       vertices_.insert(vertex);
-      edges_[vertex] = HashSet<Vertex>();
+      edges_[vertex] = std::unordered_set<Vertex>();
     }
     vertex_weights_[vertex] = weight;
   }
@@ -135,15 +132,14 @@ class WeightedGraph {
 
     vertices_.erase(vertex);
     vertex_weights_.erase(vertex);
-    const HashSet<Vertex>& sinks = edges_[vertex];
-    for (typename HashSet<Vertex>::const_iterator it = sinks.begin();
-         it != sinks.end(); ++it) {
-      if (vertex < *it) {
-        edge_weights_.erase(std::make_pair(vertex, *it));
+    const std::unordered_set<Vertex>& sinks = edges_[vertex];
+    for (const Vertex& s : sinks) {
+      if (vertex < s) {
+        edge_weights_.erase(std::make_pair(vertex, s));
       } else {
-        edge_weights_.erase(std::make_pair(*it, vertex));
+        edge_weights_.erase(std::make_pair(s, vertex));
       }
-      edges_[*it].erase(vertex);
+      edges_[s].erase(vertex);
     }
 
     edges_.erase(vertex);
@@ -198,11 +194,11 @@ class WeightedGraph {
 
   // Calling Neighbors on a vertex not in the graph will result in
   // undefined behaviour.
-  const HashSet<Vertex>& Neighbors(const Vertex& vertex) const {
+  const std::unordered_set<Vertex>& Neighbors(const Vertex& vertex) const {
     return FindOrDie(edges_, vertex);
   }
 
-  const HashSet<Vertex>& vertices() const {
+  const std::unordered_set<Vertex>& vertices() const {
     return vertices_;
   }
 
@@ -211,12 +207,11 @@ class WeightedGraph {
   }
 
  private:
-  HashSet<Vertex> vertices_;
-  HashMap<Vertex, double> vertex_weights_;
-  HashMap<Vertex, HashSet<Vertex> > edges_;
-  HashMap<std::pair<Vertex, Vertex>, double> edge_weights_;
-
-  CERES_DISALLOW_COPY_AND_ASSIGN(WeightedGraph);
+  std::unordered_set<Vertex> vertices_;
+  std::unordered_map<Vertex, double> vertex_weights_;
+  std::unordered_map<Vertex, std::unordered_set<Vertex>> edges_;
+  std::unordered_map<std::pair<Vertex, Vertex>, double, pair_hash>
+      edge_weights_;
 };
 
 }  // namespace internal