diff --git a/src/bench/bench_vector_creation.cpp b/src/bench/bench_vector_creation.cpp
index cc9a42d..7f24668 100644
--- a/src/bench/bench_vector_creation.cpp
+++ b/src/bench/bench_vector_creation.cpp
@@ -11,6 +11,30 @@ struct ConstrainedPose {
   double max_velocity     = 0.0;
   double min_acceleration = 0.0;
   double max_acceleration = 0.0;
+
+  ConstrainedPose() {}
+
+  ConstrainedPose(const S& state, double distance, double max_velocity, double min_acceleration,
+                  double max_acceleration) {
+    this->state            = state;
+    this->distance         = distance;
+    this->max_velocity     = max_velocity;
+    this->min_acceleration = min_acceleration;
+    this->max_acceleration = max_acceleration;
+  }
+
+  ConstrainedPose(ConstrainedPose& other) = default;
+  ConstrainedPose& operator=(ConstrainedPose& other) {
+    //std::cout << "Copy operator called";
+    this->state            = other.state;
+    this->distance         = other.distance;
+    this->max_velocity     = other.max_velocity;
+    this->min_acceleration = other.min_acceleration;
+    this->max_acceleration = other.max_acceleration;
+    return *this;
+  }
+
+  ConstrainedPose& operator=(ConstrainedPose&& other) = default;
 };
 
 static void BM_VectorReserveAndPushBack(benchmark::State& state) {
@@ -19,19 +43,32 @@ static void BM_VectorReserveAndPushBack(benchmark::State& state) {
     vector.reserve(kVectorSize);
 
     for (int i = 0; i < kVectorSize; i++) {
-      vector.push_back({fl::Pose2dWithCurvature{}, 1.0 * i, 1.0 * i, 1.0 * i});
+      vector.push_back({fl::Pose2dWithCurvature{}, 1.0 * i, 1.0 * i, 1.0 * i, 1.0 * i});
     }
   }
 }
 
-static void BM_VectorConstructor(benchmark::State& state) {
+static void BM_VectorReserveAndEmplaceBack(benchmark::State& state) {
+  for (auto _ : state) {
+    std::vector<ConstrainedPose<fl::Pose2dWithCurvature>> vector;
+    vector.reserve(kVectorSize);
+
+    for (int i = 0; i < kVectorSize; i++) {
+      vector.emplace_back(fl::Pose2dWithCurvature{}, 1.0 * i, 1.0 * i, 1.0 * i, 1.0 * i);
+    }
+  }
+}
+
+static void BM_VectorConstructorAndAssignIndices(benchmark::State& state) {
   for (auto _ : state) {
     std::vector<ConstrainedPose<fl::Pose2dWithCurvature>> vector{kVectorSize};
     for (int i = 0; i < kVectorSize; i++) {
-      vector[i] = {fl::Pose2dWithCurvature{}, 1.0 * i, 1.0 * i, 1.0 * i};
+      vector[i] = ConstrainedPose<fl::Pose2dWithCurvature>(fl::Pose2dWithCurvature{}, 1.0 * i, 1.0 * i,
+                                                           1.0 * i, 1.0 * i);
     }
   }
 }
 
+BENCHMARK(BM_VectorReserveAndEmplaceBack)->Arg(100)->Complexity()->Unit(benchmark::kMillisecond);
 BENCHMARK(BM_VectorReserveAndPushBack)->Arg(100)->Complexity()->Unit(benchmark::kMillisecond);
-BENCHMARK(BM_VectorConstructor)->Arg(100)->Complexity()->Unit(benchmark::kMillisecond);
\ No newline at end of file
+BENCHMARK(BM_VectorConstructorAndAssignIndices)->Arg(100)->Complexity()->Unit(benchmark::kMillisecond);
\ No newline at end of file