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fix(avoidance): improve avoidance safety check logic #6974

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merged 2 commits into from
May 24, 2024

fix(avoidance): rebuild prepare distance calculation/validation logic

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Merged

fix(avoidance): improve avoidance safety check logic #6974

fix(avoidance): rebuild prepare distance calculation/validation logic
26521be
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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) failed May 10, 2024 in 49s

CodeScene PR Check

Code Health Quality Gates: FAILED

  • Declining Code Health: 1 findings(s) 🚩

  • Affected Hotspots: 2 files(s) 🔥

View detailed results in CodeScene

Details

🚩 Declining Code Health (highest to lowest):

  • Complex Method utils.cpp: getSafetyCheckTargetObjects 🔥

Annotations

Check warning on line 1913 in planning/behavior_path_avoidance_module/src/utils.cpp

See this annotation in the file changed.

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

❌ Getting worse: Complex Method

getSafetyCheckTargetObjects increases in cyclomatic complexity from 20 to 21, 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 notice on line 1 in planning/behavior_path_avoidance_module/src/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 5.07 to 5.08, 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.

Check notice on line 1 in planning/behavior_path_avoidance_module/src/scene.cpp

See this annotation in the file changed.

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

ℹ Getting worse: Lines of Code in a Single File

The lines of code increases from 1241 to 1242, 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.