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If a lock is used with a mutex that doesn't need to be unlocked again before the lock is destroyed, std::lock_guard can be more efficient than std::unique_lock due to less overhead. This commit also removes a redundant set of curly braces in PIDController.cpp intended to constrain a lock's scope. Change-Id: Idd692ce439528ddb319a4c62c40c7351a664eb97