ScanGroundFilterComponent::ScanGroundFilterComponent has 70 lines, 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.

GridGroundFilter::classify 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.

GridGroundFilter::initializeGround has a cyclomatic complexity of 16, 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.

GridGroundFilter::SegmentDiscontinuousCell 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.

GridGroundFilter::SegmentContinuousCell has a cyclomatic complexity of 12, 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.

GridGroundFilter::SegmentBreakCell 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.

GridGroundFilter::classify has 1 complex conditionals with 2 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.

GridGroundFilter::classify has 4 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.

GridGroundFilter::initializeGround 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.

This module has a mean cyclomatic complexity of 9.10 across 10 functions. The mean complexity threshold is 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.

GridGroundFilter::classify 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.