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perf(probabilistic_occupancy_grid_map): performance tuning for pointcloud based occupancy grid map #7687

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merged 20 commits into from
Jul 16, 2024

fix: build error

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Merged

perf(probabilistic_occupancy_grid_map): performance tuning for pointcloud based occupancy grid map #7687

fix: build error
71974b3
Select commit
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Failed to load commit list.
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) failed Jul 16, 2024 in 36s

CodeScene PR Check

❌ Code Health Quality Gates: FAILED

Change in average Code Health of affected files: -0.06 (9.03 -> 8.97)

  • Declining Code Health: 1 findings(s) 🚩

View detailed results in CodeScene

Details

🚩 Declining Code Health (highest to lowest):

  • Complex Method pointcloud_based_occupancy_grid_map_node.cpp: PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw

Annotations

Check warning on line 209 in perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp

See this annotation in the file changed.

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

❌ Getting worse: Complex Method 

PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw increases in cyclomatic complexity from 14 to 17, 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.

Check notice on line 209 in perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp

See this annotation in the file changed.

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

ℹ Getting worse: Bumpy Road Ahead 

PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw increases from 2 to 3 logical blocks with deeply nested code, threshold is one single 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.
View more details on CodeScene Delta Analysis