fix(mission_planner): consider overlap lanelets when enable_correct_goal_pose param is true #5533
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
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Declining Code Health: 3 findings(s) 🚩
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Affected Hotspots: 1 files(s) 🔥
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method route_handler.cpp: RouteHandler::planPathLaneletsBetweenCheckpoints 🔥
- Deep, Nested Complexity route_handler.cpp: RouteHandler::planPathLaneletsBetweenCheckpoints 🔥
- Bumpy Road Ahead route_handler.cpp: RouteHandler::planPathLaneletsBetweenCheckpoints 🔥
Annotations
Check notice on line 388 in planning/mission_planner/src/lanelet2_plugins/default_planner.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Complex Method
DefaultPlanner::is_goal_valid increases in cyclomatic complexity from 12 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 388 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 4 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 notice on line 1 in planning/route_handler/src/route_handler.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Lines of Code in a Single File
The lines of code increases from 1920 to 1933, 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 warning on line 2200 in planning/route_handler/src/route_handler.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
RouteHandler::planPathLaneletsBetweenCheckpoints increases in cyclomatic complexity from 14 to 16, 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 warning on line 2200 in planning/route_handler/src/route_handler.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Bumpy Road Ahead
RouteHandler::planPathLaneletsBetweenCheckpoints increases from 3 to 5 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 notice on line 1 in planning/route_handler/src/route_handler.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 4.53 to 4.55, 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.
Check warning on line 2200 in planning/route_handler/src/route_handler.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Deep, Nested Complexity
RouteHandler::planPathLaneletsBetweenCheckpoints 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.