feat(avoidance): change lateral margin based on if it's parked vehicle
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 5 findings(s) 🚩
- Improving Code Health: 3 findings(s) ✅
- Affected Hotspots: 1 files(s) 🔥
Recommended Review Level: Detailed -- Inspect the code that degrades in code health.
View detailed results in CodeScene
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method shift_line_generator.cpp: ShiftLineGenerator::generateAvoidOutline
- Large Method manager.cpp: AvoidanceByLaneChangeModuleManager::init
- Complex Method manager.cpp: AvoidanceModuleManager::updateModuleParams
- Complex Method utils.cpp: filterTargetObjects 🔥
- Complex Method utils.cpp: isParkedVehicle 🔥
✅ Improving Code Health:
- Complex Method utils.cpp: isObjectOnRoadShoulder 🔥
- Bumpy Road Ahead utils.cpp: isObjectOnRoadShoulder 🔥
- Complex Conditional utils.cpp: isObjectOnRoadShoulder 🔥
Annotations
Check notice on line 1 in planning/behavior_path_avoidance_module/src/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Lines of Code in a Single File
The lines of code increases from 1882 to 1895, 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 warning on line 1778 in planning/behavior_path_avoidance_module/src/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
filterTargetObjects increases in cyclomatic complexity from 15 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 606 in planning/behavior_path_avoidance_module/src/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Complex Method
isObjectOnRoadShoulder is no longer above the threshold for cyclomatic complexity. 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 warning on line 606 in planning/behavior_path_avoidance_module/src/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
isParkedVehicle has a cyclomatic complexity of 10, 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 606 in planning/behavior_path_avoidance_module/src/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Bumpy Road Ahead
isObjectOnRoadShoulder is no longer above the threshold for logical blocks with deeply nested code. 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.
Check notice on line 606 in planning/behavior_path_avoidance_module/src/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ New issue: Bumpy Road Ahead
isParkedVehicle has 2 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.
Check notice on line 1 in planning/behavior_path_avoidance_module/src/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 4.94 to 4.96, 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.
Check notice on line 528 in planning/behavior_path_avoidance_module/src/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Complex Conditional
isObjectOnRoadShoulder no longer has a complex conditional
Check warning on line 80 in planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
AvoidanceByLaneChangeModuleManager::init increases from 123 to 125 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
Check warning on line 67 in planning/behavior_path_avoidance_module/src/manager.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
AvoidanceModuleManager::updateModuleParams already has high cyclomatic complexity, and now it increases in Lines of Code from 106 to 109. 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 warning on line 242 in planning/behavior_path_avoidance_module/src/shift_line_generator.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
ShiftLineGenerator::generateAvoidOutline increases in cyclomatic complexity from 49 to 50, 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 1 in planning/behavior_path_avoidance_module/src/shift_line_generator.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 8.28 to 8.32, 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.