DynamicAvoidanceModule::determineWhetherToAvoidAgainstLaneDriveObjects has a cyclomatic complexity of 30, 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.

DynamicAvoidanceModule::determineWhetherToAvoidAgainstFreeRunObjects has a cyclomatic complexity of 21, 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.

DynamicAvoidanceModule::registerLaneDriveObjects has a cyclomatic complexity of 19, 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.

DynamicAvoidanceModule::getLabelAsTargetObstacle has a cyclomatic complexity of 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.

DynamicAvoidanceModule::registerFreeRunObjects has a cyclomatic complexity of 15, 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.

DynamicAvoidanceModule::determineWhetherToAvoidAgainstLaneDriveObjects has 2 complex conditionals with 5 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.

DynamicAvoidanceModule::determineWhetherToAvoidAgainstFreeRunObjects has 1 complex conditionals with 3 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.

DynamicAvoidanceModule::registerLaneDriveObjects 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.

DynamicAvoidanceModule::registerFreeRunObjects 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.

DynamicAvoidanceModule::determineWhetherToAvoidAgainstLaneDriveObjects 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.

DynamicAvoidanceModule::determineWhetherToAvoidAgainstFreeRunObjects 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.