perf(mission_planner): remove queries on all road and shoulder lanelets #7024
+49
−50
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)
failed
May 20, 2024 in 54s
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 1 findings(s) 🚩
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method default_planner.cpp: DefaultPlanner::is_goal_valid
Annotations
Check warning on line 359 in planning/mission_planner/src/lanelet2_plugins/default_planner.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
DefaultPlanner::is_goal_valid increases in cyclomatic complexity from 12 to 15, 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 359 in planning/mission_planner/src/lanelet2_plugins/default_planner.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Bumpy Road Ahead
DefaultPlanner::is_goal_valid 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.
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