ObstacleCruisePlannerNode::createSlowDownObstacle increases in cyclomatic complexity from 23 to 34, 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.

ObstacleCruisePlannerNode::createStopObstacle increases in cyclomatic complexity from 11 to 18, 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.

ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles increases in cyclomatic complexity from 13 to 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.

ObstacleCruisePlannerNode::convertToObstacles increases in cyclomatic complexity from 10 to 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.

ObstacleCruisePlannerNode::onTrajectory has a cyclomatic complexity of 14, 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.

ObstacleCruisePlannerNode::convertToObstacles 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.

ObstacleCruisePlannerNode::createYieldCruiseObstacle has a cyclomatic complexity of 9, 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.

ObstacleCruisePlannerNode::onTrajectory increases from 1 complex conditionals with 2 branches to 1 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.

ObstacleCruisePlannerNode::createStopObstacle 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.

ObstacleCruisePlannerNode::createSlowDownObstacle has 1 complex conditionals with 4 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.

ObstacleCruisePlannerNode::BehaviorDeterminationParam::onParam increases from 74 to 89 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.

ObstacleCruisePlannerNode::createSlowDownObstacle increases from 6 to 7 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.

ObstacleCruisePlannerNode::createStopObstacle 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.

ObstacleCruisePlannerNode::convertToObstacles has 3 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.

ObstacleCruisePlannerNode::convertToObstacles has a nested complexity depth of 6, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.

ObstacleCruisePlannerNode::createSlowDownObstacle has a nested complexity depth of 4, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.