Avoid double search of pipeline_id_planner_id_map_

Author: rhaschke

core/src/solvers/pipeline_planner.cpp

@@ -93,13 +93,14 @@ PipelinePlanner::PipelinePlanner(
 
 bool PipelinePlanner::setPlannerId(const std::string& pipeline_name, const std::string& planner_id) {
 	// Only set ID if pipeline exists. It is not possible to create new pipelines with this command.
-	if (pipeline_id_planner_id_map_.count(pipeline_name) == 0) {
+	auto it = pipeline_id_planner_id_map_.find(pipeline_name);
+	if (it == pipeline_id_planner_id_map_.end()) {
 		RCLCPP_ERROR(node_->get_logger(),
 		             "PipelinePlanner does not have a pipeline called '%s'. Cannot set pipeline ID '%s'",
 		             pipeline_name.c_str(), planner_id.c_str());
 		return false;
 	}
-	pipeline_id_planner_id_map_[pipeline_name] = planner_id;
+	it->second = planner_id;
 	return true;
 }