fix(freespace_planner): fix a bug that goal goes out of the costmap while parking. #4577
+24
−0
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)
failed
Apr 4, 2024 in 30s
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 2 findings(s) 🚩
Details
🚩 Declining Code Health (highest to lowest):
- Deep, Nested Complexity astar_search.cpp: AstarSearch::search
- Complex Method astar_search.cpp: AstarSearch::search
Annotations
Check warning on line 285 in planning/freespace_planning_algorithms/src/astar_search.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
AstarSearch::search increases in cyclomatic complexity from 10 to 14, 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 285 in planning/freespace_planning_algorithms/src/astar_search.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Bumpy Road Ahead
AstarSearch::search 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.
Check warning on line 285 in planning/freespace_planning_algorithms/src/astar_search.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Deep, Nested Complexity
AstarSearch::search has a nested complexity depth of 4, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.
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