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