The lines of code decreases from 1872 to 1865, 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.

GoalPlannerModule::generateStopPath decreases in cyclomatic complexity from 14 to 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.

GoalPlannerModule::onTimer 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.

GoalPlannerModule::onFreespaceParkingTimer 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.

GoalPlannerModule::isStuck 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.

GoalPlannerModule::onTimer no longer has a complex conditional. 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.

GoalPlannerModule::onFreespaceParkingTimer no longer has a complex conditional. 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.

FreespaceParkingPlanner::onTimer 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.

GoalPlannerModule::onTimer 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.

The mean cyclomatic complexity increases from 6.38 to 6.54, 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.

GoalPlannerModule::onTimer is no longer above the threshold for nested complexity depth. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.

LaneParkingPlanner::onTimer 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.

GoalPlannerModule::planFreespacePath is no longer above the threshold for number of arguments. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

GoalPlannerModule::isStuck is no longer above the threshold for number of arguments. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

GoalPlannerModule::GoalPlannerData::update is no longer above the threshold for number of arguments. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.