LaneParkingPlanner::onTimer increases in cyclomatic complexity from 29 to 47, 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::planPullOverAsOutput already has high cyclomatic complexity, and now it increases in Lines of Code from 70 to 71. 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::selectPullOverPath increases in cyclomatic complexity from 13 to 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.

LaneParkingPlanner::onTimer increases from 3 to 8 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.

GoalPlannerModule::selectPullOverPath 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.

GoalPlannerModuleManager::initGoalPlannerParameters increases from 340 to 345 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.