[SymForce] Use range-based for instead of index-based

Topic: chaoqu_symforce_range_for GitOrigin-RevId: f6de76de4181c990092912d0522b674d882ba01d
symforce-org · Apr 21, 2023 · 82d3a1a · 82d3a1a
1 parent 07a53fd
commit 82d3a1a
Showing 1 changed file with 2 additions and 6 deletions.
diff --git a/symforce/opt/linearizer.cc b/symforce/opt/linearizer.cc
@@ -189,9 +189,7 @@ void Linearizer<ScalarType>::BuildInitialLinearization(const Values<Scalar>& val
       }
 
       // Add contribution from right-hand-side
-      for (int key_i = 0; key_i < static_cast<int>(factor_helper.key_helpers.size()); ++key_i) {
-        const linearization_offsets_t& key_helper = factor_helper.key_helpers[key_i];
-
+      for (const linearization_offsets_t& key_helper : factor_helper.key_helpers) {
         init_linearization_.rhs.segment(key_helper.combined_offset, key_helper.tangent_dim) +=
             linearized_factor.rhs.segment(key_helper.factor_offset, key_helper.tangent_dim);
       }
@@ -224,9 +222,7 @@ void Linearizer<ScalarType>::BuildInitialLinearization(const Values<Scalar>& val
       }
 
       // Add contributions from right-hand-side
-      for (int key_i = 0; key_i < static_cast<int>(factor_helper.key_helpers.size()); ++key_i) {
-        const linearization_dense_key_helper_t& key_helper = factor_helper.key_helpers[key_i];
-
+      for (const linearization_dense_key_helper_t& key_helper : factor_helper.key_helpers) {
         init_linearization_.rhs.segment(key_helper.combined_offset, key_helper.tangent_dim) +=
             linearized_dense_factor.rhs.segment(key_helper.factor_offset, key_helper.tangent_dim);
       }