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perf(map_based_prediction): remove query on all fences linestrings #7237

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Jul 5, 2024
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perf(map_based_prediction): remove query on all fences linestrings #7237

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12 changes: 8 additions & 4 deletions perception/autoware_map_based_prediction/src/map_based_prediction_node.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 perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp

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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 1895 to 1899, 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 1 in perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 6.58 to 6.61, 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 @@ -1309,10 +1309,14 @@

bool MapBasedPredictionNode::doesPathCrossAnyFence(const PredictedPath & predicted_path)
{
const lanelet::ConstLineStrings3d & all_fences =
lanelet::utils::query::getAllFences(lanelet_map_ptr_);
for (const auto & fence_line : all_fences) {
if (doesPathCrossFence(predicted_path, fence_line)) {
lanelet::BasicLineString2d predicted_path_ls;
for (const auto & p : predicted_path.path)
predicted_path_ls.emplace_back(p.position.x, p.position.y);
const auto candidates =
lanelet_map_ptr_->lineStringLayer.search(lanelet::geometry::boundingBox2d(predicted_path_ls));
for (const auto & candidate : candidates) {
const std::string type = candidate.attributeOr(lanelet::AttributeName::Type, "none");
if (type == "fence" && doesPathCrossFence(predicted_path, candidate)) {
return true;
}
}
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