🚩 Declining Code Health (highest to lowest):

• Complex Method scene_intersection.cpp: IntersectionModule::modifyPathVelocityDetail 🔥
• Complex Method scene_intersection.cpp: IntersectionModule::isOcclusionCleared 🔥
• Complex Method utils.cpp: filterTargetObjects
• Complex Method util.cpp: getObjectiveLanelets 🔥
• Complex Conditional scene_intersection.cpp: IntersectionModule::modifyPathVelocityDetail 🔥
• Complex Method normal.cpp: NormalLaneChange::getLaneChangePaths
• Brain Method utils.cpp: filterTargetObjects
• Brain Method scene_intersection.cpp: IntersectionModule::isOcclusionCleared 🔥
• Brain Method scene_intersection.cpp: IntersectionModule::checkCollision 🔥
• Brain Method util.cpp: getObjectiveLanelets 🔥
• Complex Conditional accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::timerCallback
• Complex Conditional map_based_prediction_node.cpp: MapBasedPredictionNode::objectsCallback 🔥
• Large Method behavior_planning.launch.py: launch_setup
• Complex Method manager.cpp: AvoidanceModuleManager::AvoidanceModuleManager
• Complex Method occupancy_grid_map_projective.cpp: OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud
• Complex Method utils.cpp: makeBoundLongitudinallyMonotonic
• Complex Method avoidance_module.cpp: AvoidanceModule::calcRawShiftLinesFromObjects
• Bumpy Road Ahead node.cpp: ObstacleStopPlannerNode::searchPredictedObject 🔥
• Bumpy Road Ahead util.cpp: getObjectiveLanelets 🔥
• Complex Method scene_intersection.cpp: IntersectionModule::checkCollision 🔥
• Complex Method utils.cpp: generateDrivableArea
• Complex Method accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::timerCallback
• Complex Method utils.cpp: generateDrivableLanes
• Complex Method normal.cpp: NormalLaneChange::filterObject
• Complex Conditional avoidance_module.cpp: AvoidanceModule::addNewShiftLines
• Complex Method utils.cpp: getBoundWithIntersectionAreas
• Complex Conditional scene_intersection.cpp: IntersectionModule::checkCollision 🔥
• Complex Method behavior_path_planner_node.cpp: BehaviorPathPlannerNode::run 🔥
• Complex Conditional utils.cpp: generateDrivableLanes
• Complex Method avoidance_module.cpp: AvoidanceModule::addReturnShiftLineFromEgo
• Bumpy Road Ahead scene_intersection.cpp: IntersectionModule::isOcclusionCleared 🔥
• Complex Method accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::AccelBrakeMapCalibrator
• Complex Method manager.cpp: AvoidanceModuleManager::updateModuleParams
• Large Method avoidance_module.cpp: AvoidanceModule::updateDebugMarker
• Complex Method utils.cpp: generateExpandDrivableLanes
• Complex Method utils.cpp: generatePolygonInsideBounds
• Complex Method predicted_objects_display.cpp: PredictedObjectsDisplay::createMarkers
• Complex Conditional front_vehicle_velocity_estimator.cpp: FrontVehicleVelocityEstimator::isFrontVehicle
• Overall Code Complexity fusion_node.cpp
• Overall Function Size bicycle_tracker.cpp
• Overall Code Complexity bicycle_tracker.cpp
• Overall Code Complexity behavior_path_planner_node.cpp 🔥
• Code Duplication debug.cpp
• Overall Code Complexity utils.cpp
• Lines of Code in a Single File avoidance_module.cpp
• Overall Code Complexity avoidance_module.cpp
• Bumpy Road Ahead interface.cpp: LaneChangeInterface::updateState
• Lines of Code in a Single File normal.cpp
• Overall Code Complexity normal.cpp
• Deep, Nested Complexity normal.cpp: NormalLaneChange::getLaneChangePaths
• Lines of Code in a Single File utils.cpp
• Overall Code Complexity utils.cpp
• Overall Code Complexity drivable_area_expansion.cpp
• Deep, Nested Complexity map_utils.cpp: extract_uncrossable_segments
• Overall Code Complexity utils.cpp
• Deep, Nested Complexity utils.cpp: generateDrivableLanes
• Overall Code Complexity objects_filtering.cpp
• Code Duplication safety_check.cpp
• Overall Code Complexity path_utils.cpp
• Lines of Code in a Single File utils.cpp
• Overall Code Complexity utils.cpp
• Lines of Code in a Single File util.cpp 🔥
• Complex Conditional util.cpp: isTargetStuckVehicleType 🔥
• Deep, Nested Complexity util.cpp: getPathIndexRangeIncludeLaneId
• Lines of Code in a Single File accel_brake_map_calibrator_node.cpp
• Overall Code Complexity accel_brake_map_calibrator_node.cpp
• Complex Method normal.cpp: NormalLaneChange::insertStopPoint
• Complex Method path_utils.cpp: resamplePathWithSpline
• Complex Method planner_interface.cpp: PlannerInterface::generateStopTrajectory
• Complex Method util.cpp: generateIntersectionStopLines 🔥
• Bumpy Road Ahead utils.cpp: generateDrivableLanes
• Complex Method motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::calcExternalVelocityLimit
• Complex Method accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::updateFourCellAroundOffset
• Complex Method accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::updateAccelBrakeMap
• Complex Method big_vehicle_tracker.cpp: BigVehicleTracker::measureWithPose
• Complex Method normal_vehicle_tracker.cpp: NormalVehicleTracker::measureWithPose
• Complex Method avoidance_module.cpp: AvoidanceModule::trimSharpReturn
• Bumpy Road Ahead utils.cpp: filterTargetObjects
• Large Method manager.cpp: AvoidanceByLaneChangeModuleManager::AvoidanceByLaneChangeModuleManager
• Complex Method scene.cpp: TrafficLightModule::modifyPathVelocity
• Complex Method ekf_localizer.cpp: EKFLocalizer::timerCallback
• Complex Method utils.cpp: concatenateTwoPolygons
• Large Method radar_tracks_msgs_converter_node.cpp: RadarTracksMsgsConverterNode::convertRadarTrackToTrackedObjects
• Complex Method path_utils.cpp: getPathTurnSignal
• Complex Method behavior_path_planner_node.cpp: BehaviorPathPlannerNode::BehaviorPathPlannerNode 🔥
• Large Method test_drivable_area_expansion.cpp: TEST:DrivableAreaExpansionProjection:expand_drivable_area
• Large Method big_vehicle_tracker.cpp: BigVehicleTracker::getTrackedObject
• Large Method normal_vehicle_tracker.cpp: NormalVehicleTracker::getTrackedObject
• Bumpy Road Ahead scene.cpp: TrafficLightModule::modifyPathVelocity
• Complex Conditional scene_intersection.cpp: isTargetCollisionVehicleType 🔥
• Complex Method utils.cpp: getSafetyCheckTargetObjects
• Complex Method utils.cpp: getBoundWithHatchedRoadMarkings
• Complex Conditional nodelet.cpp: TrafficLightOcclusionPredictorNodelet::syncCallback
• Complex Conditional drivable_area_expansion.cpp: reuse_previous_poses
• Complex Conditional utils.cpp: generatePolygonInsideBounds
• Complex Conditional utils.cpp: concatenateTwoPolygons
• Deep, Nested Complexity utils.cpp: getDistanceToCrosswalk
• Complex Conditional node.cpp: ObstacleCruisePlannerNode::onTrajectory 🔥
• Complex Method motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::smoothVelocity
• Large Method bicycle_tracker.cpp: BicycleTracker::getTrackedObject
• Complex Method bicycle_tracker.cpp: BicycleTracker::measureWithPose
• Complex Method objects_filtering.cpp: isTargetObjectType
• Large Method test_safety_check.cpp: TEST:BehaviorPathPlanningSafetyUtilsTest:createExtendedEgoPolygon
• Complex Method interface.cpp: LaneChangeInterface::updateState
• Complex Method node.cpp: ObstacleAvoidancePlanner::applyInputVelocity
• Bumpy Road Ahead normal.cpp: NormalLaneChange::getLaneChangePaths
• Large Method pedestrian_tracker.cpp: PedestrianTracker::getTrackedObject
• Complex Conditional map_based_prediction_node.cpp: changeLabelForPrediction 🔥
• Complex Method avoidance_module.cpp: AvoidanceModule::findNewShiftLine
• Complex Method avoidance_module.cpp: AvoidanceModule::generateTotalShiftLine
• Large Method ekf_localizer.cpp: EKFLocalizer::measurementUpdatePose
• Complex Method node.cpp: ShapeEstimationNode::callback
• Complex Method utils.cpp: createFurthestLineStringMarkerArray
• Complex Method safety_check.cpp: getCollidedPolygons
• Complex Method utils.cpp: cutOverlappedLanes
• Large Method node.cpp: BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode
• Bumpy Road Ahead utils.cpp: makeBoundLongitudinallyMonotonic
• Deep, Nested Complexity utils.cpp: concatenatePolygons
• Deep, Nested Complexity utils.cpp: getSignedDistanceFromBoundary
• Bumpy Road Ahead scene_intersection.cpp: IntersectionModule::modifyPathVelocityDetail 🔥
• Complex Method motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::calcInitialMotion
• Complex Method normal.cpp: NormalLaneChange::isLaneChangePathSafe
• Complex Method scene_merge_from_private_road.cpp: MergeFromPrivateRoadModule::modifyPathVelocity
• Complex Method avoidance_module.cpp: AvoidanceModule::addNewShiftLines
• Complex Method utils.cpp: combineDrivableLanes
• Complex Method utils.cpp: generateDrivableArea
• Complex Method utils.cpp: isEgoOutOfRoute
• Complex Method scene_intersection.cpp: IntersectionModule::generateTargetObjects 🔥
• Complex Method avoidance_module.cpp: AvoidanceModule::isSafePath
• Complex Method avoidance_module.cpp: AvoidanceModule::extractShiftLinesFromLine
• Complex Method route_handler.cpp: RouteHandler::getLaneletSequenceUpTo 🔥
• Complex Method route_handler.cpp: RouteHandler::getCheckTargetLanesFromPath 🔥
• Deep, Nested Complexity utils.cpp: filterTargetObjects
• Deep, Nested Complexity drivable_area_expansion.cpp: calculate_minimum_expansions
• Complex Method motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::onParameter
• Complex Method utils.cpp: extendToRoadShoulderDistanceWithPolygon
• Complex Method utils.cpp: getLeadingStaticObjectIdx
• Complex Method avoidance_module.cpp: AvoidanceModule::insertPrepareVelocity
• Complex Method avoidance_module.cpp: AvoidanceModule::canTransitSuccessState
• Complex Method normal.cpp: NormalLaneChange::isVehicleStuck
• Complex Method normal.cpp: NormalLaneChange::getAbortPath
• Complex Method utils.cpp: extractObstaclesFromDrivableArea
• Complex Method utils.cpp: getExtendedCurrentLanes
• Complex Method utils.cpp: getDistanceToCrosswalk
• Complex Conditional ndt_scan_matcher_core.cpp: NDTScanMatcher::publish_diagnostic
• Complex Conditional ndt_scan_matcher_core.cpp: NDTScanMatcher::callback_initial_pose
• Primitive Obsession ndt_scan_matcher_core.cpp
• Complex Method obstacle_pointcloud_based_validator.cpp: ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud
• Complex Conditional front_vehicle_velocity_estimator.cpp: FrontVehicleVelocityEstimator::update
• Complex Method unknown_tracker.cpp: UnknownTracker::measureWithPose
• Complex Method decorative_tracker_merger.cpp: DecorativeTrackerMergerNode::decorativeMerger
• Primitive Obsession debug.cpp
• Missing Arguments Abstractions utils.cpp
• Primitive Obsession utils.cpp
• Complex Conditional interface.cpp: LaneChangeInterface::getCurrentTurnSignalInfo
• Complex Conditional normal.cpp: NormalLaneChange::filterObject
• Complex Conditional utils.cpp: filterTargetObjects
• Complex Conditional drivable_area_expansion.cpp: expand_bound
• Complex Conditional drivable_area_expansion.cpp: expand_drivable_area
• Primitive Obsession utils.cpp
• Primitive Obsession safety_check.cpp
• Number of Functions in a Single Module utils.cpp
• Complex Conditional utils.cpp: findIndexOutOfGoalSearchRange
• Complex Conditional utils.cpp: checkPathRelativeAngle
• Deep, Nested Complexity utils.cpp: getBoundWithHatchedRoadMarkings
• Deep, Nested Complexity utils.cpp: makeBoundLongitudinallyMonotonic
• Deep, Nested Complexity utils.cpp: getDistanceToNextIntersection
• Deep, Nested Complexity utils.cpp: combineDrivableLanes
• Bumpy Road Ahead scene_intersection.cpp: IntersectionModule::checkCollision 🔥
• Complex Method scene_merge_from_private_road.cpp: MergeFromPrivateRoadModule::extractPathNearExitOfPrivateRoad
• Complex Conditional util.cpp: checkAngleForTargetLanelets 🔥
• Deep, Nested Complexity util.cpp: getFirstPointInsidePolygons 🔥
• Deep, Nested Complexity util.cpp: getObjectiveLanelets 🔥
• Deep, Nested Complexity util.cpp: cutPredictPathWithDuration 🔥
• Complex Method node.cpp: BehaviorVelocityPlannerNode::isDataReady
• Complex Conditional scene.cpp: TrafficLightModule::modifyPathVelocity
• Complex Conditional motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::checkData
• Deep, Nested Complexity motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::calcExternalVelocityLimit
• Deep, Nested Complexity motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::smoothVelocity
• Primitive Obsession accel_brake_map_calibrator_node.cpp
• Complex Method util.cpp: checkAngleForTargetLanelets 🔥
• Complex Method util.cpp: checkYieldStuckVehicleInIntersection 🔥
• Complex Method util.cpp: getFirstPointInsidePolygons 🔥
• Complex Conditional avoidance_module.cpp: AvoidanceModule::addReturnShiftLineFromEgo
• Complex Method route_handler.cpp: RouteHandler::getRelation 🔥
• Bumpy Road Ahead utils.cpp: generateDrivableArea
• Bumpy Road Ahead utils.cpp: getBoundWithHatchedRoadMarkings
• Complex Method scene_intersection.cpp: formatDecisionResult 🔥
• Complex Method utils.cpp: getDistanceToNextIntersection
• Complex Method utils.cpp: generateDrivableLanes
• Complex Method util.cpp: generatePathLanelets 🔥
• Complex Method util.cpp: getTrafficPrioritizedLevel 🔥
• Deep, Nested Complexity utils.cpp: generateExpandDrivableLanes
• Deep, Nested Complexity drivable_area_expansion.cpp: reuse_previous_poses
• Complex Method avoidance_module.cpp: AvoidanceModule::calcTurnSignalInfo
• Complex Method avoidance_module.cpp: AvoidanceModule::registerRawShiftLines
• Complex Method avoidance_module.cpp: AvoidanceModule::fillEgoStatus
• Complex Method utils.cpp: getDistanceToNextTrafficLight
• Complex Method utils.cpp: calcBound
• Complex Method utils.cpp: isParkedObject
• Bumpy Road Ahead normal.cpp: NormalLaneChange::insertStopPoint
• Bumpy Road Ahead normal.cpp: NormalLaneChange::filterObject
• Complex Method drivable_area_expansion.cpp: reuse_previous_poses
• Complex Method objects_filtering.cpp: separateObjectIndicesByLanelets
• Bumpy Road Ahead utils.cpp: generateExpandDrivableLanes
• Complex Method util.cpp: calcIntersectionPassingTime 🔥
• Complex Method scene.cpp: TrafficLightModule::isTrafficSignalStop
• Complex Method route_handler.cpp: RouteHandler::getLaneChangeableDistance 🔥
• Complex Method route_handler.cpp: RouteHandler::getFurthestLinestring 🔥
• Complex Method avoidance_module.cpp: AvoidanceModule::updateEgoBehavior
• Complex Method utils.cpp: getAdjacentLane
• Complex Method utils.cpp: combineRawShiftLinesWithUniqueCheck
• Complex Method utils.cpp: generateObstaclePolygonsForDrivableArea
• Complex Method scene_intersection.cpp: isGreenSolidOn 🔥
• Complex Method utils.cpp: getSignedDistanceFromBoundary
• Complex Method utils.cpp: getOverlappedLaneletId
• Complex Method utils.cpp: findIndexOutOfGoalSearchRange
• Complex Method utils.cpp: getPolygonPointsInsideBounds
• Complex Method utils.cpp: concatenatePolygons
• Complex Method utils.cpp: passParkedObject
• Complex Method utils.cpp: constructCandidatePath
• Bumpy Road Ahead util.cpp: generateDetectionLaneDivisions 🔥
• Bumpy Road Ahead util.cpp: checkAngleForTargetLanelets 🔥
• Bumpy Road Ahead path_utils.cpp: resamplePathWithSpline
• Bumpy Road Ahead motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::calcExternalVelocityLimit
• Bumpy Road Ahead accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::indexValueSearch
• Complex Method interface.cpp: LaneChangeInterface::getCurrentTurnSignalInfo
• Bumpy Road Ahead drivable_area_expansion.cpp: reuse_previous_poses
• Bumpy Road Ahead utils.cpp: getDistanceToCrosswalk
• Complex Conditional scene_intersection.cpp: reactRTCApprovalByDecisionResult 🔥
• Bumpy Road Ahead predicted_objects_display.cpp: PredictedObjectsDisplay::createMarkers
• Bumpy Road Ahead utils.cpp: extendToRoadShoulderDistanceWithPolygon
• Bumpy Road Ahead utils.cpp: getSafetyCheckTargetObjects
• Complex Conditional utils.cpp: passParkedObject
• Excess Number of Function Arguments debug.cpp: createAvoidLineMarkerArray
• Bumpy Road Ahead path_utils.cpp: correctDividedPathVelocity
• Excess Number of Function Arguments path_utils.cpp: getPathTurnSignal
• Bumpy Road Ahead utils.cpp: getTargetNeighborLanes
• Bumpy Road Ahead utils.cpp: generateDrivableLanes
• Bumpy Road Ahead utils.cpp: getSortedLaneIds
• Bumpy Road Ahead utils.cpp: isParkedObject
• Bumpy Road Ahead avoidance_module.cpp: AvoidanceModule::calcRawShiftLinesFromObjects
• Bumpy Road Ahead avoidance_module.cpp: AvoidanceModule::generateTotalShiftLine
• Bumpy Road Ahead avoidance_module.cpp: AvoidanceModule::trimSharpReturn
• Bumpy Road Ahead front_vehicle_velocity_estimator.cpp: FrontVehicleVelocityEstimator::filterFrontVehicle
• Bumpy Road Ahead bicycle_tracker.cpp: BicycleTracker::measureWithPose
• Bumpy Road Ahead utils.cpp: createFurthestLineStringMarkerArray
• Bumpy Road Ahead drivable_area_expansion.cpp: calculate_minimum_expansions
• Bumpy Road Ahead map_utils.cpp: extract_uncrossable_segments
• Bumpy Road Ahead scene_intersection.cpp: IntersectionModule::generateTargetObjects 🔥
• Bumpy Road Ahead node.cpp: ObstacleAvoidancePlanner::applyInputVelocity
• Bumpy Road Ahead node.cpp: ObstacleAvoidancePlanner::insertZeroVelocityOutsideDrivableArea
• Bumpy Road Ahead util.cpp: getStopLineIndexFromMap 🔥
• Bumpy Road Ahead util.cpp: generateIntersectionStopLines 🔥
• Bumpy Road Ahead util.cpp: getFirstPointInsidePolygons 🔥
• Bumpy Road Ahead util.cpp: IntersectionLanelets::update 🔥
• Bumpy Road Ahead util.cpp: generatePathLanelets 🔥
• Bumpy Road Ahead utils.cpp: generatePolygonInsideBounds
• Bumpy Road Ahead utils.cpp: concatenateTwoPolygons
• Bumpy Road Ahead utils.cpp: getBoundWithIntersectionAreas
• Bumpy Road Ahead utils.cpp: generateDrivableArea
• Bumpy Road Ahead utils.cpp: getDistanceToNextIntersection
• Bumpy Road Ahead utils.cpp: getExtendedCurrentLanes
• Excess Number of Function Arguments debug.cpp: createOverhangFurthestLineStringMarkerArray
• Excess Number of Function Arguments path_utils.cpp: splineTwoPoints
• Bumpy Road Ahead motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::calcTrajectoryVelocity
• Bumpy Road Ahead motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::smoothVelocity
• Bumpy Road Ahead motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::insertBehindVelocity
• Bumpy Road Ahead motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::calcInitialMotion
• Bumpy Road Ahead accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::updateAccelBrakeMap
• Bumpy Road Ahead accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::updateTotalMapOffset
• Bumpy Road Ahead accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::publishMap
• Bumpy Road Ahead accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::writeMapToCSV
• Bumpy Road Ahead predicted_objects_display.cpp: PredictedObjectsDisplay::update
• Bumpy Road Ahead utils.cpp: calcParentIds
• Bumpy Road Ahead utils.cpp: updateRegisteredObject
• Bumpy Road Ahead utils.cpp: separateObjectsByPath
• Complex Method drivable_area_expansion.cpp: calculate_minimum_expansions
• Bumpy Road Ahead path_utils.cpp: getIdxByArclength
• Bumpy Road Ahead path_utils.cpp: getPathTurnSignal
• Complex Method drivable_area_expansion.cpp: expand_bound
• Bumpy Road Ahead avoidance_module.cpp: AvoidanceModule::canTransitSuccessState
• Bumpy Road Ahead avoidance_module.cpp: AvoidanceModule::registerRawShiftLines
• Bumpy Road Ahead avoidance_module.cpp: AvoidanceModule::addReturnShiftLineFromEgo
• Bumpy Road Ahead avoidance_module.cpp: AvoidanceModule::isSafePath
• Bumpy Road Ahead avoidance_module.cpp: AvoidanceModule::addNewShiftLines
• Bumpy Road Ahead avoidance_module.cpp: AvoidanceModule::findNewShiftLine
• Bumpy Road Ahead avoidance_module.cpp: AvoidanceModule::calcTurnSignalInfo
• Bumpy Road Ahead drivable_area_expansion.cpp: expand_bound
• Excess Number of Function Arguments drivable_area_expansion.cpp: reuse_previous_poses
• Excess Number of Function Arguments drivable_area_expansion.cpp: calculate_minimum_expansions
• Excess Number of Function Arguments drivable_area_expansion.cpp: calculate_maximum_distance
• Excess Number of Function Arguments objects_filtering.cpp: filterObjects
• Excess Number of Function Arguments objects_filtering.cpp: filterObjectsByPosition
• Excess Number of Function Arguments objects_filtering.cpp: createPredictedPath
• Bumpy Road Ahead utils.cpp: getPolygonPointsInsideBounds
• Bumpy Road Ahead utils.cpp: findIndexOutOfGoalSearchRange
• Bumpy Road Ahead utils.cpp: isEgoOutOfRoute
• Bumpy Road Ahead utils.cpp: getOverlappedLaneletId
• Bumpy Road Ahead utils.cpp: cutOverlappedLanes
• Bumpy Road Ahead utils.cpp: getDistanceToNextTrafficLight
• Bumpy Road Ahead utils.cpp: getCurrentLanesFromPath
• Bumpy Road Ahead utils.cpp: extendNextLane
• Bumpy Road Ahead utils.cpp: extendPrevLane
• Bumpy Road Ahead utils.cpp: combineDrivableLanes
• Bumpy Road Ahead utils.cpp: extractObstaclesFromDrivableArea
• Excess Number of Function Arguments safety_check.cpp: checkCollision
• Excess Number of Function Arguments safety_check.cpp: checkCollisionWithExtraStoppingMargin
• Excess Number of Function Arguments accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::addLogToCSV
• Excess Number of Function Arguments utils.cpp: extendToRoadShoulderDistanceWithPolygon
• Excess Number of Function Arguments safety_check.cpp: createExtendedPolygon
• Excess Number of Function Arguments safety_check.cpp: createExtendedPolygon
• Excess Number of Function Arguments utils.cpp: separateObjectsByPath
• Excess Number of Function Arguments utils.cpp: getReferencePathFromTargetLane
• Excess Number of Function Arguments utils.cpp: setEndData
• Excess Number of Function Arguments utils.cpp: setStartData
• Excess Number of Function Arguments utils.cpp: insertDecelPoint
• Excess Number of Function Arguments utils.cpp: filterTargetObjects
• Excess Number of Function Arguments utils.cpp: passParkedObject
• Excess Number of Function Arguments accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::updateEachValOffset
• Excess Number of Function Arguments utils.cpp: createShiftLineMarkerArray
• Excess Number of Function Arguments utils.cpp: createShiftGradMarkerArray
• Excess Number of Function Arguments utils.cpp: createPolygonMarkerArray
• Excess Number of Function Arguments utils.cpp: createPredictedPathMarkerArray
• Excess Number of Function Arguments utils.cpp: hasEnoughLengthToLaneChangeAfterAbort
• Excess Number of Function Arguments utils.cpp: isParkedObject
• Excess Number of Function Arguments utils.cpp: generateDrivableArea
• Excess Number of Function Arguments accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::updateFourCellAroundOffset
• Excess Number of Function Arguments utils.cpp: createPoseMarkerArray
• Excess Number of Function Arguments utils.cpp: createPathMarkerArray
• Excess Number of Function Arguments utils.cpp: createShiftLengthMarkerArray
• Excess Number of Function Arguments utils.cpp: createObjectsMarkerArray
• Excess Number of Function Arguments utils.cpp: getCenterLinePath
• Excess Number of Function Arguments utils.cpp: calcLaneAroundPose
• Excess Number of Function Arguments utils.cpp: getTargetPreferredLanes
• Excess Number of Function Arguments utils.cpp: constructCandidatePath
• Excess Number of Function Arguments utils.cpp: convertToPredictedPath
• Excess Number of Function Arguments utils.cpp: isParkedObject
• Excess Number of Function Arguments utils.cpp: getLeadingStaticObjectIdx
• Excess Number of Function Arguments accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::executeUpdate
• Excess Number of Function Arguments accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::calculateEstimatedAcc
• Excess Number of Function Arguments accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::calculateAccelSquaredError
• Excess Number of Function Arguments accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::calculateAccelErrorL1Norm
• Excess Number of Function Arguments accel_brake_map_calibrator_node.cpp: AccelBrakeMapCalibrator::getOccMsg
• Excess Number of Function Arguments utils.cpp: createLaneletsAreaMarkerArray
• Excess Number of Function Arguments utils.cpp: intersectBound
• Excess Number of Function Arguments utils.cpp: getDistanceBetweenPredictedPaths
• Excess Number of Function Arguments utils.cpp: getDistanceBetweenPredictedPathAndObject
• Excess Number of Function Arguments utils.cpp: refinePathForGoal
• Excess Number of Function Arguments utils.cpp: calcBound
• Excess Number of Function Arguments utils.cpp: getTargetLaneletPolygons
• Excess Number of Function Arguments utils.cpp: setDecelerationVelocity
• Excess Number of Function Arguments utils.cpp: setDecelerationVelocity

✅ Improving Code Health:

• Code Duplication route_handler.cpp 🔥
• Large Method lanelet2_map_visualization_node.cpp: Lanelet2MapVisualizationNode::onMapBin
• Large Method vehicle_cmd_gate.cpp: VehicleCmdGate::VehicleCmdGate
• Large Method node.cpp: ObstacleStopPlannerNode::ObstacleStopPlannerNode 🔥
• Complex Method planner_interface.cpp: PlannerInterface::generateSlowDownTrajectory
• Complex Method pid_longitudinal_controller.cpp: PidLongitudinalController::updateControlState
• Complex Method node.cpp: RoiClusterFusionNode::fuseOnSingleImage
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::objectsCallback 🔥
• Complex Method scene_out_of_lane.cpp: OutOfLaneModule::modifyPathVelocity
• Complex Method scene_intersection.cpp: IntersectionModule::isOverPassJudgeLinesStatus 🔥
• Complex Method scene_intersection.cpp: IntersectionModule::getTrafficPrioritizedLevel 🔥
• Large Method pid_longitudinal_controller.cpp: diagnostic_updater_
• Bumpy Road Ahead pid_longitudinal_controller.cpp: PidLongitudinalController::updateControlState
• Overall Code Complexity pid_longitudinal_controller.cpp
• Overall Code Complexity node.cpp
• Bumpy Road Ahead node.cpp: RoiClusterFusionNode::fuseOnSingleImage
• Overall Code Complexity utils.cpp
• Lines of Code in a Single File map_based_prediction_node.cpp 🔥
• Overall Code Complexity map_based_prediction_node.cpp 🔥
• Overall Code Complexity pedestrian_tracker.cpp
• Overall Code Complexity node.cpp
• Overall Code Complexity scene_crosswalk.cpp 🔥
• Overall Code Complexity manager.cpp
• Overall Code Complexity decisions.cpp
• Overall Code Complexity scene.cpp
• Lines of Code in a Single File node.cpp 🔥
• Overall Code Complexity planner_interface.cpp
• Lines of Code in a Single File node.cpp 🔥
• Overall Code Complexity route_handler.cpp 🔥
• Overall Code Complexity concatenate_and_time_sync_nodelet.cpp
• Overall Code Complexity system_error_monitor_core.cpp
• Large Method preprocessor.launch.py: launch_setup
• Complex Method debug.cpp: IntersectionModule::createDebugMarkerArray
• Large Method pid_longitudinal_controller.cpp: PidLongitudinalController::paramCallback
• Large Method big_vehicle_tracker.cpp: BigVehicleTracker::BigVehicleTracker
• Large Method normal_vehicle_tracker.cpp: NormalVehicleTracker::NormalVehicleTracker
• Large Method simple_planning_simulator_core.cpp: SimplePlanningSimulator::SimplePlanningSimulator
• Large Method bicycle_tracker.cpp: BicycleTracker::BicycleTracker
• Large Method pedestrian_tracker.cpp: PedestrianTracker::PedestrianTracker
• Large Method test_longitudinal_controller_utils.cpp: TEST:TestLongitudinalControllerUtils:lerpTrajectoryPoint
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::getPredictedObjectAsCrosswalkUser 🔥
• Complex Conditional scene_intersection.cpp: IntersectionModule::getTrafficPrioritizedLevel 🔥
• Complex Conditional scene_intersection.cpp: IntersectionModule::isOverPassJudgeLinesStatus 🔥
• Complex Method scene_crosswalk.cpp: CrosswalkModule::checkStopForStuckVehicles 🔥
• Complex Method map_based_prediction_node.cpp: isReachableCrosswalkEdgePoints 🔥
• Complex Method behavior_path_planner_node.cpp: BehaviorPathPlannerNode::isDataReady 🔥
• Complex Method scene_crosswalk.cpp: CrosswalkModule::checkStopForCrosswalkUsers 🔥
• Complex Method decisions.cpp: object_time_to_range
• Complex Method route_handler.cpp: RouteHandler::getLeftLanelet 🔥
• Complex Method route_handler.cpp: RouteHandler::getRightLanelet 🔥
• Large Method ndt_scan_matcher_core.cpp: NDTScanMatcher::align_pose
• Complex Method pointcloud_based_occupancy_grid_map_node.cpp: PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw
• Complex Method decisions.cpp: object_time_to_range
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::getPredictedReferencePath 🔥
• Complex Method node.cpp: MapBasedDetector::getVisibleTrafficLights
• Bumpy Road Ahead map_based_prediction_node.cpp: MapBasedPredictionNode::objectsCallback 🔥
• Large Method behavior_path_planner_node.cpp: BehaviorPathPlannerNode::BehaviorPathPlannerNode 🔥
• Complex Method vehicle_cmd_gate.cpp: VehicleCmdGate::publishControlCommands
• Complex Method map_based_prediction_node.cpp: changeLabelForPrediction 🔥
• Complex Method route_handler.cpp: RouteHandler::planPathLaneletsBetweenCheckpoints 🔥
• Complex Method node.cpp: SurroundObstacleCheckerNode::getNearestObstacleByDynamicObject
• Complex Method route_handler.cpp: RouteHandler::getLaneletSequence 🔥
• Complex Method route_handler.cpp: RouteHandler::getLaneletSequenceAfter 🔥
• Primitive Obsession mpc_utils.cpp
• Excess Number of Function Arguments utils.cpp: updateOutputFusedObjects
• Complex Method traffic_light_arbiter.cpp: TrafficLightArbiter::arbitrateAndPublish
• Primitive Obsession scene_intersection.cpp 🔥
• Complex Method freespace_planner_node.cpp: FreespacePlannerNode::onTimer
• Complex Method planning_validator.cpp: PlanningValidator::isAllValid
• Complex Method concatenate_and_time_sync_nodelet.cpp: PointCloudConcatenateDataSynchronizerComponent::cloud_callback
• Complex Method simple_planning_simulator_core.cpp: SimplePlanningSimulator::set_input
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::calcIntentionToCrossWithTrafficSignal 🔥
• Complex Method map_based_prediction_node.cpp: removeOldObjectsHistory 🔥
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::tryMatchNewObjectToDisappeared 🔥
• Complex Conditional map_based_prediction_node.cpp: isReachableCrosswalkEdgePoints 🔥
• Complex Method node.cpp: ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles 🔥
• Complex Method node.cpp: ObstacleStopPlannerNode::filterObstacles 🔥
• Complex Method scene.cpp: RunOutModule::calcStopPoint
• Complex Method node.cpp: ObstacleCruisePlannerNode::findYieldCruiseObstacles 🔥
• Complex Method node.cpp: ObstacleCruisePlannerNode::createStopObstacle 🔥
• Complex Method scene_crosswalk.cpp: CrosswalkModule::modifyPathVelocity 🔥
• Complex Method scene_crosswalk.cpp: CrosswalkModule::updateObjectState 🔥
• Complex Method scene_crosswalk.cpp: CrosswalkModule::applySafetySlowDownSpeed 🔥
• Complex Method node.cpp: MapBasedDetector::routeCallback
• Complex Method pid_longitudinal_controller.cpp: PidLongitudinalController::predictedStateAfterDelay
• Complex Method pid_longitudinal_controller.cpp: PidLongitudinalController::getControlData
• Complex Method ndt_scan_matcher_core.cpp: NDTScanMatcher::callback_sensor_points_main
• Bumpy Road Ahead scene_crosswalk.cpp: CrosswalkModule::checkStopForCrosswalkUsers 🔥
• Complex Method node.cpp: CrosswalkTrafficLightEstimatorNode::updateLastDetectedSignals
• Complex Method node.cpp: CrosswalkTrafficLightEstimatorNode::updateAndGetColorState
• Complex Method scene.cpp: RunOutModule::modifyPathVelocity
• Deep, Nested Complexity scene_crosswalk.cpp: CrosswalkModule::modifyPathVelocity 🔥
• Deep, Nested Complexity scene_crosswalk.cpp: CrosswalkModule::checkStopForCrosswalkUsers 🔥
• Bumpy Road Ahead mrm_summary_overlay_display.cpp: MrmSummaryOverlayDisplay::update
• Excess Number of Function Arguments ndt_scan_matcher_core.cpp: NDTScanMatcher::publish_initial_to_result
• Complex Method utils.cpp: updateOutputFusedObjects
• Excess Number of Function Arguments utils.cpp: closest_cluster
• Complex Method pedestrian_tracker.cpp: PedestrianTracker::measureWithShape
• Bumpy Road Ahead occupancy_grid_map_fixed.cpp: OccupancyGridMapFixedBlindSpot::updateWithPointCloud
• Bumpy Road Ahead node.cpp: MapBasedDetector::routeCallback
• Deep, Nested Complexity scene_intersection.cpp: IntersectionModule::modifyPathVelocityDetail 🔥
• Deep, Nested Complexity scene_intersection.cpp: IntersectionModule::updateTrafficSignalObservation 🔥
• Bumpy Road Ahead map_based_prediction_node.cpp: isReachableCrosswalkEdgePoints 🔥
• Bumpy Road Ahead map_based_prediction_node.cpp: removeOldObjectsHistory 🔥
• Bumpy Road Ahead map_based_prediction_node.cpp: MapBasedPredictionNode::getPredictedReferencePath 🔥
• Bumpy Road Ahead map_based_prediction_node.cpp: MapBasedPredictionNode::calcIntentionToCrossWithTrafficSignal 🔥
• Bumpy Road Ahead node.cpp: ObstacleCruisePlannerNode::findYieldCruiseObstacles 🔥
• Bumpy Road Ahead node.cpp: ObstacleCruisePlannerNode::createOneStepPolygons 🔥
• Bumpy Road Ahead node.cpp: ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles 🔥
• Bumpy Road Ahead node.cpp: ObstacleCruisePlannerNode::createStopObstacle 🔥
• Complex Method mpc_lateral_controller.cpp: MpcLateralController::run
• Bumpy Road Ahead concatenate_and_time_sync_nodelet.cpp: PointCloudConcatenateDataSynchronizerComponent::publish
• Bumpy Road Ahead route_handler.cpp: RouteHandler::getRightLanelet 🔥
• Bumpy Road Ahead route_handler.cpp: RouteHandler::getLeftLanelet 🔥
• Bumpy Road Ahead scene_crosswalk.cpp: CrosswalkModule::checkStopForStuckVehicles 🔥
• Bumpy Road Ahead node.cpp: MapBasedDetector::mapCallback
• Bumpy Road Ahead route_handler.cpp: RouteHandler::getLaneletSequence 🔥
• Complex Method concatenate_and_time_sync_nodelet.cpp: PointCloudConcatenateDataSynchronizerComponent::combineClouds
• Complex Method concatenate_and_time_sync_nodelet.cpp: PointCloudConcatenateDataSynchronizerComponent::publish
• Complex Method simple_planning_simulator_core.cpp: SimplePlanningSimulator::initialize_vehicle_model
• Complex Method simple_planning_simulator_core.cpp: SimplePlanningSimulator::set_initial_state
• Excess Number of Function Arguments map_based_prediction_node.cpp: MapBasedPredictionNode::addReferencePaths 🔥
• Bumpy Road Ahead ekf_localizer.cpp: EKFLocalizer::updatePredictFrequency
• Bumpy Road Ahead node.cpp: CrosswalkTrafficLightEstimatorNode::updateLastDetectedSignals
• Bumpy Road Ahead node.cpp: CrosswalkTrafficLightEstimatorNode::updateAndGetColorState
• Bumpy Road Ahead big_vehicle_tracker.cpp: BigVehicleTracker::getUpdatingObject
• Bumpy Road Ahead normal_vehicle_tracker.cpp: NormalVehicleTracker::getUpdatingObject
• Bumpy Road Ahead scene_merge_from_private_road.cpp: MergeFromPrivateRoadModule::getAttentionLanelets
• Excess Number of Function Arguments scene.cpp: RunOutModule::insertStoppingVelocity
• Bumpy Road Ahead freespace_planner_node.cpp: FreespacePlannerNode::onTimer
• Excess Number of Function Arguments map_based_prediction_node.cpp: isReachableCrosswalkEdgePoints 🔥
• Excess Number of Function Arguments debug.cpp: createArrowLineMarkerArray
• Complex Method mrm_summary_overlay_display.cpp: MrmSummaryOverlayDisplay::update
• Complex Conditional vehicle_cmd_gate.cpp: VehicleCmdGate::publishMarkers
• Complex Method map_update_module.cpp: MapUpdateModule::update_ndt
• Bumpy Road Ahead map_update_module.cpp: MapUpdateModule::update_map
• Complex Conditional node.cpp: CrosswalkTrafficLightEstimatorNode::updateFlashingState
• Bumpy Road Ahead object_lanelet_filter.cpp: ObjectLaneletFilterNode::isObjectOverlapLanelets
• Deep, Nested Complexity object_lanelet_filter.cpp: ObjectLaneletFilterNode::isObjectOverlapLanelets
• Code Duplication obstacle_pointcloud_based_validator.cpp
• Large Method voxel_grid_based_euclidean_cluster.launch.py: launch_setup
• Large Method map_based_prediction_node.cpp: MapBasedPredictionNode::MapBasedPredictionNode 🔥
• Complex Conditional bicycle_tracker.cpp: BicycleTracker::measureWithShape
• Complex Conditional pedestrian_tracker.cpp: PedestrianTracker::measureWithShape
• Bumpy Road Ahead pedestrian_tracker.cpp: PedestrianTracker::measureWithShape
• Large Method unknown_tracker.cpp: UnknownTracker::UnknownTracker
• Large Method occupancy_grid_map_outlier_filter_nodelet.cpp: OccupancyGridMapOutlierFilterComponent::onOccupancyGridMapAndPointCloud2
• Code Duplication radar_tracks_msgs_converter_node.cpp
• Bumpy Road Ahead traffic_light_arbiter.cpp: TrafficLightArbiter::arbitrateAndPublish
• Overall Code Complexity traffic_light_arbiter.cpp
• Complex Method nodelet.cpp: TrafficLightOcclusionPredictorNodelet::syncCallback
• Bumpy Road Ahead nodelet.cpp: TrafficLightOcclusionPredictorNodelet::syncCallback
• Excess Number of Function Arguments nodelet.cpp: TrafficLightOcclusionPredictorNodelet::syncCallback
• Brain Method scene_crosswalk.cpp: CrosswalkModule::checkStopForCrosswalkUsers 🔥
• Complex Conditional scene_crosswalk.cpp: CrosswalkModule::modifyPathVelocity 🔥
• Complex Conditional scene_crosswalk.cpp: CrosswalkModule::checkStopForCrosswalkUsers 🔥
• Complex Conditional scene_crosswalk.cpp: CrosswalkModule::checkStopForStuckVehicles 🔥
• Code Duplication debug.cpp
• Bumpy Road Ahead scene.cpp: RunOutModule::calcStopPoint
• Large Method node.cpp: ObstacleCruisePlannerNode::BehaviorDeterminationParam::onParam 🔥
• Large Method node.cpp: ObstacleCruisePlannerNode::createOneStepPolygons 🔥
• Overall Code Complexity node.cpp 🔥
• Deep, Nested Complexity node.cpp: ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles 🔥
• Deep, Nested Complexity node.cpp: ObstacleCruisePlannerNode::findYieldCruiseObstacles 🔥
• Large Method node.cpp: SurroundObstacleCheckerNode::SurroundObstacleCheckerNode
• Complex Conditional simple_planning_simulator_core.cpp: SimplePlanningSimulator::set_input
• Complex Conditional simple_planning_simulator_core.cpp: SimplePlanningSimulator::set_initial_state
• Complex Conditional system_error_monitor_core.cpp: AutowareErrorMonitor::loggingErrors