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fix(static_drivable_area_expansion): fix bound extraction logic #6006

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refactor(static_drivable_area_expansion): define as anon func

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Merged

fix(static_drivable_area_expansion): fix bound extraction logic #6006

refactor(static_drivable_area_expansion): define as anon func
a7dcce6
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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) failed Jan 5, 2024 in 40s

CodeScene PR Check

Code Health Quality Gates: FAILED

  • Declining Code Health: 1 findings(s) 🚩
  • Improving Code Health: 3 findings(s) ✅
  • Affected Hotspots: 0 files(s) 🔥

Recommended Review Level: Detailed -- Inspect the code that degrades in code health.
View detailed results in CodeScene

Details

🚩 Declining Code Health (highest to lowest):

  • Complex Method static_drivable_area.cpp: extractBoundFromPolygon

✅ Improving Code Health:

  • Overall Code Complexity static_drivable_area.cpp
  • Complex Method static_drivable_area.cpp: getBoundWithIntersectionAreas
  • Bumpy Road Ahead static_drivable_area.cpp: getBoundWithIntersectionAreas

Annotations

Check notice on line 1 in planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File

The lines of code increases from 1494 to 1498, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.

Check notice on line 1343 in planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Complex Method

getBoundWithIntersectionAreas decreases in cyclomatic complexity from 30 to 20, 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 warning on line 184 in planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method

extractBoundFromPolygon has a cyclomatic complexity of 11, 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 1343 in planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Bumpy Road Ahead

getBoundWithIntersectionAreas is no longer above the threshold for logical blocks with deeply nested code. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

Check notice on line 184 in planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

ℹ New issue: Bumpy Road Ahead

extractBoundFromPolygon has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

Check notice on line 1 in planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Overall Code Complexity

The mean cyclomatic complexity decreases from 10.31 to 10.03, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.