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fix(mpc_lateral_controller): align the MPC steering angle when the car is controlled manually. #7109

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merged 11 commits into from
Jun 20, 2024

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Merged

fix(mpc_lateral_controller): align the MPC steering angle when the car is controlled manually. #7109

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) failed Jun 20, 2024 in 42s

CodeScene PR Check

❌ Code Health Quality Gates: FAILED

  • Declining Code Health: 1 findings(s) 🚩

View detailed results in CodeScene

Details

🚩 Declining Code Health (highest to lowest):

  • Complex Method mpc_lateral_controller.cpp: MpcLateralController::run

Annotations

Check warning on line 263 in control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp

See this annotation in the file changed.

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

❌ Getting worse: Complex Method 

MpcLateralController::run increases in cyclomatic complexity from 12 to 13, 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.
View more details on CodeScene Delta Analysis