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fix(lane_change): orientation check when constructing path #6339

fix(lane_change): orientation check when constructing path

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fix(lane_change): orientation check when constructing path #6339

fix(lane_change): orientation check when constructing path
3043812
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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) failed Feb 6, 2024 in 46s

CodeScene PR Check

Code Health Quality Gates: FAILED

  • Declining Code Health: 2 findings(s) 🚩
  • Improving Code Health: 0 findings(s) ✅
  • Affected Hotspots: 1 files(s) 🔥

Recommended Review Level: Detailed -- Inspect the code that degrades in code health.
View detailed results in CodeScene

Details

🚩 Declining Code Health (highest to lowest):

  • Complex Method utils.cpp: constructCandidatePath 🔥
  • Bumpy Road Ahead utils.cpp: constructCandidatePath 🔥

Annotations

Check warning on line 403 in planning/behavior_path_lane_change_module/src/utils/utils.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method

constructCandidatePath increases in cyclomatic complexity from 9 to 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.

Check warning on line 403 in planning/behavior_path_lane_change_module/src/utils/utils.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Bumpy Road Ahead

constructCandidatePath 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.

Check notice on line 1 in planning/behavior_path_lane_change_module/src/utils/utils.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity

The mean cyclomatic complexity increases from 4.78 to 4.86, 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.