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fix(accel_brake_map_calibrator): fix accel_brake_map_calibrator not to output invalid maps #6992

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merged 1 commit into from
May 13, 2024
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fix(accel_brake_map_calibrator): fix accel_brake_map_calibrator not to output invalid maps #6992

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12 changes: 7 additions & 5 deletions vehicle/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
//

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1361 to 1362, 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.

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ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 4.04 to 4.06, 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.
// Copyright 2020 Tier IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
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{
const double bit = std::pow(1e-01, precision_);
for (std::size_t ped_idx = 0; ped_idx < update_accel_map_value_.size() - 1; ped_idx++) {
for (std::size_t vel_idx = 0; vel_idx < update_accel_map_value_.at(0).size() - 1; vel_idx++) {
for (std::size_t vel_idx = update_accel_map_value_.at(0).size() - 1;; vel_idx--) {
if (vel_idx == 0) break;

const double current_acc = update_accel_map_value_.at(ped_idx).at(vel_idx);
const double next_ped_acc = update_accel_map_value_.at(ped_idx + 1).at(vel_idx);
const double next_vel_acc = update_accel_map_value_.at(ped_idx).at(vel_idx + 1);
const double prev_vel_acc = update_accel_map_value_.at(ped_idx).at(vel_idx - 1);

if (current_acc <= next_vel_acc) {
if (current_acc + bit >= prev_vel_acc) {
// the higher the velocity, the lower the acceleration
update_accel_map_value_.at(ped_idx).at(vel_idx + 1) = current_acc - bit;
update_accel_map_value_.at(ped_idx).at(vel_idx - 1) = current_acc + bit;
}

if (current_acc >= next_ped_acc) {
if (current_acc + bit >= next_ped_acc) {
// the higher the accel pedal, the higher the acceleration
update_accel_map_value_.at(ped_idx + 1).at(vel_idx) = current_acc + bit;
}
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