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feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower #6805

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May 14, 2024

Update launch/tier4_control_launch/launch/control.launch.py

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feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower #6805

Update launch/tier4_control_launch/launch/control.launch.py
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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) failed May 14, 2024 in 1m 28s

CodeScene PR Check

❌ Code Health Quality Gates: FAILED

  • Declining Code Health: 131 findings(s) 🚩

View detailed results in CodeScene

Details

🚩 Declining Code Health (highest to lowest):

  • Complex Method python_simulator.py: slalom_drive
  • Complex Method pympc_trajectory_follower.py: PyMPCTrajectoryFollower.control
  • Complex Method drive_controller.py: init
  • Large Method control.launch.py: launch_setup
  • Low Cohesion drive_functions.py
  • Low Cohesion train_drive_NN_model.py
  • Brain Method train_drive_NN_model.py: polynomial_regression
  • Brain Method train_drive_NN_model.py: train_model
  • Complex Conditional python_simulator.py: slalom_drive
  • Complex Method run_sim.py: run_simulator
  • Bumpy Road Ahead pympc_trajectory_follower.py: PyMPCTrajectoryFollower.control
  • Large Method pympc_trajectory_follower.py: PyMPCTrajectoryFollower.init
  • Deep, Nested Complexity drive_controller.py: update_input_queue
  • Complex Method add_training_data_from_csv.py: add_data_from_csv.add_data_from_csv
  • Code Duplication drive_iLQR.py
  • Complex Method drive_controller.py: update_input_queue
  • Complex Method drive_controller.py: get_optimal_control
  • Complex Method drive_iLQR.py: compute_optimal_control
  • Large Method drive_iLQR.py: compute_iLQR_coef
  • Complex Method python_simulator.py: create_straight_line_test_csv
  • Complex Method drive_functions.py: calc_cost
  • Complex Method drive_functions.py: transform_Q_R
  • Lines of Code in a Single File python_simulator.py
  • Overall Code Complexity python_simulator.py
  • Deep, Nested Complexity python_simulator.py: accel_map_f
  • Deep, Nested Complexity run_sim.py: run_simulator
  • Lines of Code in a Single File drive_controller.py
  • Overall Code Complexity drive_controller.py
  • Lines of Code in a Single File drive_functions.py
  • Overall Code Complexity drive_functions.py
  • Code Duplication drive_functions.py
  • Deep, Nested Complexity drive_functions.py: calc_limits
  • Lines of Code in a Single File pympc_trajectory_follower.py
  • Overall Code Complexity pympc_trajectory_follower.py
  • Deep, Nested Complexity pympc_trajectory_follower.py: PyMPCTrajectoryFollower.control
  • Overall Code Complexity add_training_data_from_csv.py
  • Code Duplication train_drive_NN_model.py
  • Complex Method train_drive_NN_model.py: polynomial_regression
  • Bumpy Road Ahead drive_controller.py: update_input_queue
  • Deep, Nested Complexity drive_controller.py: get_optimal_control
  • Bumpy Road Ahead python_simulator.py: slalom_drive
  • Large Method proxima_calc.cpp: error_prediction_with_diff
  • Complex Method train_drive_NN_model.py: train_model
  • Complex Method drive_functions.py: calc_cost_only_for_states
  • Large Method drive_functions.py: calc_limits
  • Missing Arguments Abstractions python_simulator.py
  • Missing Arguments Abstractions drive_NN.py
  • Missing Arguments Abstractions drive_controller.py
  • Missing Arguments Abstractions drive_functions.py
  • Missing Arguments Abstractions drive_iLQR.py
  • Complex Method drive_mppi.py: drive_mppi.proceed_mppi_step
  • Primitive Obsession proxima_calc.cpp
  • Excess Number of Function Arguments proxima_calc.cpp: set_params
  • Complex Conditional pympc_trajectory_follower.py: PyMPCTrajectoryFollower.control
  • Deep, Nested Complexity train_drive_NN_model.py: train_model
  • Deep, Nested Complexity train_drive_NN_model.py: polynomial_regression
  • Missing Arguments Abstractions train_drive_NN_model.py
  • Bumpy Road Ahead python_simulator.py: get_current_additional_sine
  • Excess Number of Function Arguments drive_controller.py: init
  • Bumpy Road Ahead drive_controller.py: get_optimal_control
  • Bumpy Road Ahead drive_controller.py: update_model
  • Complex Conditional python_simulator.py: create_additional_sine_data
  • Bumpy Road Ahead python_simulator.py: accel_map_f
  • Bumpy Road Ahead drive_functions.py: calc_limits
  • Bumpy Road Ahead drive_functions.py: transform_Q_R
  • Bumpy Road Ahead drive_functions.py: calc_cost
  • Bumpy Road Ahead run_sim.py: run_simulator
  • Bumpy Road Ahead drive_mppi.py: drive_mppi.proceed_mppi_step
  • Bumpy Road Ahead proxima_calc.cpp: get_polynomial_features
  • Bumpy Road Ahead proxima_calc.cpp: get_polynomial_features_with_diff
  • Bumpy Road Ahead add_training_data_from_csv.py: add_data_from_csv.add_data_from_csv
  • Bumpy Road Ahead train_drive_NN_model.py: train_model
  • Bumpy Road Ahead train_drive_NN_model.py: get_trained_model
  • Bumpy Road Ahead train_drive_NN_model.py: update_trained_model
  • Bumpy Road Ahead train_drive_NN_model.py: update_saved_trained_model
  • Bumpy Road Ahead train_drive_NN_model.py: polynomial_regression
  • Excess Number of Function Arguments drive_iLQR.py: compute_iLQR_coef
  • Excess Number of Function Arguments drive_NN.py: DriveNeuralNetwork.init
  • Excess Number of Function Arguments drive_NN.py: transform_model_to_c.init
  • Bumpy Road Ahead drive_functions.py: calc_cost_only_for_states
  • Excess Number of Function Arguments drive_GP.py: get_pred
  • Excess Number of Function Arguments drive_GP.py: get_pred_deviations
  • Excess Number of Function Arguments drive_GP.py: get_pred_deviation
  • Excess Number of Function Arguments python_simulator.py: slalom_drive
  • Excess Number of Function Arguments drive_controller.py: update_input_queue_and_get_optimal_control
  • Excess Number of Function Arguments drive_mppi.py: drive_mppi.init
  • Excess Number of Function Arguments drive_mppi.py: generate_input_perturbation
  • Excess Number of Function Arguments drive_mppi.py: drive_mppi.calc_forward_trajectories_with_cost
  • Excess Number of Function Arguments drive_mppi.py: drive_mppi.proceed_mppi_step
  • Excess Number of Function Arguments drive_mppi.py: drive_mppi.compute_optimal_control
  • Excess Number of Function Arguments drive_NN.py: loss_fn_plus_tanh
  • Excess Number of Function Arguments train_drive_NN_model.py: get_trained_model
  • Excess Number of Function Arguments train_drive_NN_model.py: update_saved_trained_model
  • Excess Number of Function Arguments drive_iLQR.py: compute_optimal_control
  • Excess Number of Function Arguments train_drive_NN_model.py: update_trained_model
  • Excess Number of Function Arguments python_simulator.py: pure_pursuit
  • Excess Number of Function Arguments train_drive_NN_model.py: polynomial_regression
  • Excess Number of Function Arguments python_simulator.py: f_sim
  • Excess Number of Function Arguments python_simulator.py: F_true_predict
  • Excess Number of Function Arguments python_simulator.py: create_additional_sine_data
  • Excess Number of Function Arguments python_simulator.py: get_current_additional_sine
  • Excess Number of Function Arguments train_drive_NN_model.py: init
  • Excess Number of Function Arguments train_drive_NN_model.py: train_model
  • Excess Number of Function Arguments train_drive_NN_model.py: get_polynomial_regression_result
  • Excess Number of Function Arguments drive_functions.py: calc_limits
  • Excess Number of Function Arguments drive_functions.py: F_with_model_initial_diff
  • Excess Number of Function Arguments drive_functions.py: F_with_model_diff
  • Excess Number of Function Arguments drive_functions.py: F_with_model_for_candidates
  • Excess Number of Function Arguments train_drive_NN_model.py: sim
  • Excess Number of Function Arguments python_simulator.py: F_sim
  • Excess Number of Function Arguments drive_functions.py: F_with_history_and_diff
  • Excess Number of Function Arguments drive_functions.py: F_with_history_for_candidates
  • Excess Number of Function Arguments drive_iLQR.py: sparse_right_action_for_state_diff
  • Excess Number of Function Arguments drive_iLQR.py: sparse_left_action_for_state_diff
  • Excess Number of Function Arguments drive_iLQR.py: vector_sparse_left_action_for_state_diff
  • Excess Number of Function Arguments drive_iLQR.py: calc_line_search_candidates
  • Excess Number of Function Arguments python_simulator.py: create_straight_line_test_csv
  • Excess Number of Function Arguments drive_functions.py: F_with_history
  • Excess Number of Function Arguments drive_functions.py: u_cut_off
  • Excess Number of Function Arguments drive_iLQR.py: init
  • Excess Number of Function Arguments drive_iLQR.py: calc_forward_trajectories_with_cost
  • Excess Number of Function Arguments train_drive_NN_model.py: predict_error
  • Excess Number of Function Arguments drive_functions.py: sg_filter
  • Excess Number of Function Arguments drive_functions.py: calc_cost
  • Excess Number of Function Arguments drive_functions.py: f_init
  • Excess Number of Function Arguments drive_functions.py: F_init
  • Excess Number of Function Arguments drive_functions.py: F_multiple
  • Excess Number of Function Arguments drive_functions.py: F_init_with_diff
  • Excess Number of Function Arguments drive_functions.py: F_multiple_with_diff
  • Excess Number of Function Arguments drive_functions.py: f_init_for_candidates
  • Excess Number of Function Arguments drive_functions.py: F_multiple_for_candidates

Annotations

Check warning on line 1 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Lines of Code in a Single File 

This module has 1184 lines of code, improve code health by reducing it to 600. The number of Lines of Code in a single file. More Lines of Code lowers the code health.

Check warning on line 1507 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Complex Method 

slalom_drive has a cyclomatic complexity of 56, 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 1593 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Complex Method 

create_straight_line_test_csv 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 warning on line 530 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Complex Conditional 

create_additional_sine_data has 1 complex conditionals with 2 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.

Check warning on line 1036 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Complex Conditional 

slalom_drive has 2 complex conditionals with 7 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.

Check warning on line 1507 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Bumpy Road Ahead 

slalom_drive has 6 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 warning on line 586 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Bumpy Road Ahead 

get_current_additional_sine has 3 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 warning on line 204 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Bumpy Road Ahead 

accel_map_f 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 warning on line 1 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Overall Code Complexity 

This module has a mean cyclomatic complexity of 6.26 across 19 functions. The mean complexity threshold is 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.

Check warning on line 204 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Deep, Nested Complexity 

accel_map_f has a nested complexity depth of 4, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.

Check warning on line 1 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Missing Arguments Abstractions 

The average number of function arguments in this module is 5.47 across 19 functions. The average arguments threshold is 4.00. The functions in this file have too many arguments, indicating a lack of encapsulation or too many responsibilities in the same functions. Avoid adding more.

Check warning on line 367 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Excess Number of Function Arguments 

f_sim has 9 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

Check warning on line 383 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Excess Number of Function Arguments 

F_sim has 6 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

Check warning on line 436 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Excess Number of Function Arguments 

F_true_predict has 9 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

Check warning on line 539 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Excess Number of Function Arguments 

create_additional_sine_data has 9 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

Check warning on line 586 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Excess Number of Function Arguments 

get_current_additional_sine has 7 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

Check warning on line 682 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Excess Number of Function Arguments 

pure_pursuit has 10 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

Check warning on line 1507 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Excess Number of Function Arguments 

slalom_drive has 22 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

Check warning on line 1593 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py

See this annotation in the file changed.

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

❌ New issue: Excess Number of Function Arguments 

create_straight_line_test_csv has 5 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

Check warning on line 364 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_sim.py

See this annotation in the file changed.

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

❌ New issue: Complex Method 

run_simulator has a cyclomatic complexity of 24, 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 364 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_sim.py

See this annotation in the file changed.

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

❌ New issue: Bumpy Road Ahead 

run_simulator 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 warning on line 364 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_sim.py

See this annotation in the file changed.

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

❌ New issue: Deep, Nested Complexity 

run_simulator has a nested complexity depth of 4, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.

Check warning on line 34 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_GP.py

See this annotation in the file changed.

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

❌ New issue: Excess Number of Function Arguments 

get_pred has 6 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

Check warning on line 49 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_GP.py

See this annotation in the file changed.

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

❌ New issue: Excess Number of Function Arguments 

get_pred_deviation has 5 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

Check warning on line 61 in control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_GP.py

See this annotation in the file changed.

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

❌ New issue: Excess Number of Function Arguments 

get_pred_deviations has 6 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
View more details on CodeScene Delta Analysis