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feat(route_handler): add preferred lane getter function #6496

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merged 1 commit into from
Feb 27, 2024
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feat(route_handler): add preferred lane getter function #6496

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1 change: 1 addition & 0 deletions planning/route_handler/include/route_handler/route_handler.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -327,6 +327,7 @@ class RouteHandler
lanelet::ConstLanelets getShoulderLanelets() const;
bool isShoulderLanelet(const lanelet::ConstLanelet & lanelet) const;
bool isRouteLanelet(const lanelet::ConstLanelet & lanelet) const;
lanelet::ConstLanelets getPreferredLanelets() const;

// for path
PathWithLaneId getCenterLinePath(
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5 changes: 5 additions & 0 deletions planning/route_handler/src/route_handler.cpp
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@@ -1,4 +1,4 @@
// Copyright 2021-2023 Tier IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1907 to 1911, 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.

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ℹ Getting worse: Number of Functions in a Single Module 

The number of functions increases from 109 to 110, threshold = 75. This file contains too many functions. Beyond a certain threshold, more functions lower the code health.

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✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 4.50 to 4.47, 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.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -433,6 +433,11 @@
return route_lanelets_;
}

lanelet::ConstLanelets RouteHandler::getPreferredLanelets() const

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planning/route_handler/src/route_handler.cpp#L436 

Added line #L436 was not covered by tests
{
return preferred_lanelets_;

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planning/route_handler/src/route_handler.cpp#L438 

Added line #L438 was not covered by tests
}

Pose RouteHandler::getStartPose() const
{
if (!route_ptr_) {
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