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::createSlowDownObstacleForPredictedObject has a cyclomatic complexity of 23, 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::determineEgoBehaviorAgainstPredictedObjectObstacles has a cyclomatic complexity of 13, 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 13, 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::createStopObstacleForPredictedObject has a cyclomatic complexity of 11, 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::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::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::createSlowDownObstacleForPredictedObject has 6 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 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::determineEgoBehaviorAgainstPredictedObjectObstacles 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.

ObstacleCruisePlannerNode::createStopObstacleForPredictedObject 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.

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::determineEgoBehaviorAgainstPredictedObjectObstacles 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.