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feat(ndt_scan_matcher): warn if the lidar scan has gone out of the range of the loaded map #7612

Merged
merged 18 commits into from
Jul 16, 2024

Merge branch 'main' into feature/ndt_out_of_map_range

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Merged

feat(ndt_scan_matcher): warn if the lidar scan has gone out of the range of the loaded map #7612

Merge branch 'main' into feature/ndt_out_of_map_range
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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) failed Jun 26, 2024 in 55s

CodeScene PR Check

❌ Code Health Quality Gates: FAILED

  • Declining Code Health: 1 findings(s) 🚩

  • Affected Hotspots: 1 files(s) 🔥

View detailed results in CodeScene

Details

🚩 Declining Code Health (highest to lowest):

  • Complex Method ndt_scan_matcher_core.cpp: NDTScanMatcher::callback_sensor_points_main 🔥

Annotations

Check warning on line 453 in localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

NDTScanMatcher::callback_sensor_points_main increases in cyclomatic complexity from 27 to 28, 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.
View more details on CodeScene Delta Analysis