feat(dynamic_obstacle_stop): check the obstacles behind the EGO #7076
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)
failed
Jun 5, 2024 in 43s
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 5 findings(s) 🚩
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method scene_dynamic_obstacle_stop.cpp: DynamicObstacleStopModule::modifyPathVelocity
- Complex Method object_filtering.cpp: filter_predicted_objects
- Complex Method collision.cpp: find_closest_collision_point
- Complex Conditional collision.cpp: find_closest_collision_point
- Bumpy Road Ahead scene_dynamic_obstacle_stop.cpp: DynamicObstacleStopModule::modifyPathVelocity
Annotations
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
find_closest_collision_point has a cyclomatic complexity of 9, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Conditional
find_closest_collision_point 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 notice on line 67 in planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Deep, Nested Complexity
find_closest_collision_point increases in nested complexity depth from 4 to 5, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
filter_predicted_objects increases in cyclomatic complexity from 15 to 22, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
DynamicObstacleStopModule::modifyPathVelocity increases in cyclomatic complexity from 9 to 14, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Bumpy Road Ahead
DynamicObstacleStopModule::modifyPathVelocity 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.
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