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refactor(behavior_velocity_no_stopping_area_module): cppcheck warnings #6986

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merged 3 commits into from
May 21, 2024
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refactor(behavior_velocity_no_stopping_area_module): cppcheck warnings #6986

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e0e49be
remove redundant if branch
veqcc May 12, 2024
021129a
remove unused variable
veqcc May 12, 2024
0eb34eb
remove redundant initialization
veqcc May 12, 2024
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9 changes: 2 additions & 7 deletions planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

Check notice on line 1 in planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 6.67 to 6.44, 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.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -87,12 +87,8 @@
const LineString2d line{{p0.x, p0.y}, {p1.x, p1.y}};
std::vector<Point2d> collision_points;
bg::intersection(area_poly, line, collision_points);
if (collision_points.empty()) {
continue;
}
const double yaw = tier4_autoware_utils::calcAzimuthAngle(p0, p1);
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if (!collision_points.empty()) {
geometry_msgs::msg::Point left_point;
const double yaw = tier4_autoware_utils::calcAzimuthAngle(p0, p1);
const double w = planner_data_->vehicle_info_.vehicle_width_m;
const double l = stop_line_margin;
stop_line.emplace_back(
Expand Down Expand Up @@ -306,7 +302,6 @@

const int num_ignore_nearest = 1; // Do not consider nearest lane polygon
size_t ego_area_start_idx = closest_idx + num_ignore_nearest;
size_t ego_area_end_idx = ego_area_start_idx;
// return if area size is not intentional
if (no_stopping_area_reg_elem_.noStoppingAreas().size() != 1) {
return ego_area;
Expand All @@ -330,7 +325,7 @@
}
double dist_from_area_sum = 0.0;
// decide end idx with extract distance
ego_area_end_idx = ego_area_start_idx;
size_t ego_area_end_idx = ego_area_start_idx;
for (size_t i = ego_area_start_idx; i < pp.size() - 1; ++i) {
dist_from_start_sum += tier4_autoware_utils::calcDistance2d(pp.at(i), pp.at(i - 1));
const auto & p = pp.at(i).point.pose.position;
Expand Down
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