feat(path_optimizer): additional failure logging and failure mode handling #10276
CodeScene PR Check
Quality Gate Failed
(1 files improve in Code Health)
Gates Failed
(2 files with Complex Method)
Gates Passed
See analysis details in CodeScene
Reason for failure
| Enforce advisory code health rules | Violations | Code Health Impact | |
|---|---|---|---|
| velocity_optimizer.cpp | 1 advisory rule | 8.43 → 8.42 | Suppress |
| velocity_optimizer.cpp | 1 advisory rule | 8.43 → 8.42 | Suppress |
View Improvements
| File | Code Health Impact | Categories Improved |
|---|---|---|
| mpt_optimizer.cpp | 4.75 → 4.76 | Lines of Code in a Single File, Overall Code Complexity |
Absence of Expected Change Pattern
- autoware.universe/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp is usually changed with: autoware.universe/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp
Quality Gate Profile: Clean Code Collective
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Details
🚩 Declining Code Health (highest to lowest):
- Complex Method velocity_optimizer.cpp: VelocityOptimizer::optimize
- Complex Method velocity_optimizer.cpp: VelocityOptimizer::optimize
✅ Improving Code Health:
- Lines of Code in a Single File mpt_optimizer.cpp 🔥
- Overall Code Complexity mpt_optimizer.cpp 🔥
Annotations
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
VelocityOptimizer::optimize already has high cyclomatic complexity, and now it increases in Lines of Code from 192 to 193. 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/autoware_path_optimizer/src/mpt_optimizer.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Lines of Code in a Single File
The lines of code decreases from 1254 to 1243, 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.
Check notice on line 1 in planning/autoware_path_optimizer/src/mpt_optimizer.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Overall Code Complexity
The mean cyclomatic complexity decreases from 4.56 to 4.54, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
VelocityOptimizer::optimize already has high cyclomatic complexity, and now it increases in Lines of Code from 192 to 193. 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.