feat(ndt_scan_matcher): estimate NDT covariance in real-time with limited initial positions #5338
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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)
failed
Oct 18, 2023 in 56s
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 1 findings(s) 🚩
- Improving Code Health: 1 findings(s) ✅
- Affected Hotspots: 0 files(s) 🔥
Recommended Review Level: Detailed -- Increased risk for defects: The risk is higher as much of the code in this repo (99% of all commits) is written by other authors.
View detailed results in CodeScene
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method ndt_scan_matcher_core.cpp: NDTScanMatcher::callback_sensor_points
✅ Improving Code Health:
- Primitive Obsession ndt_scan_matcher_core.cpp
Annotations
Check warning on line 509 in localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
NDTScanMatcher::callback_sensor_points increases in cyclomatic complexity from 16 to 18, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
Check notice on line 1 in localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Primitive Obsession
The ratio of primivite types in function arguments is no longer above the threshold
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