feat(behavior_path_planner_common): modify drivable area expansion to be able to avoid static objects #10220
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)
failed
Mar 10, 2025 in 30s
CodeScene PR Check
Quality Gate Failed
Gates Failed
(1 hotspot with Large Method)
(2 files with Large Method, Complex Method)
Gates Passed
See analysis details in CodeScene
Reason for failure
| Prevent hotspot decline | Violations | Code Health Impact | |
|---|---|---|---|
| behavior_path_planner_node.cpp | 1 rule in this hotspot | 6.51 → 6.49 | Suppress |
| Enforce advisory code health rules | Violations | Code Health Impact | |
|---|---|---|---|
| footprints.cpp | 1 advisory rule | 10.00 → 9.69 | Suppress |
| behavior_path_planner_node.cpp | 1 advisory rule | 6.51 → 6.49 | Suppress |
Quality Gate Profile: Clean Code Collective
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Details
🚩 Declining Code Health (highest to lowest):
- Large Method behavior_path_planner_node.cpp: BehaviorPathPlannerNode::onSetParam 🔥
- Complex Method footprints.cpp: create_object_footprints
Annotations
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
BehaviorPathPlannerNode::onSetParam increases from 89 to 95 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
create_object_footprints 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.
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