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fix(behavior_path_planner): catch exception when calculating curvature #6431

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Feb 16, 2024
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fix(behavior_path_planner): catch exception when calculating curvature #6431

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17 changes: 12 additions & 5 deletions ...ehavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

Check notice on line 1 in planning/behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 7.50 to 7.67, 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.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -383,11 +383,18 @@

stop_watch.tic("curvatures_expansion");
// Only add curvatures for the new points. Curvatures of reused path points are not updated.
const auto new_curvatures =
calculate_smoothed_curvatures(path_poses, params.curvature_average_window);
const auto first_new_point_idx = curvatures.size();
curvatures.insert(
curvatures.end(), new_curvatures.begin() + first_new_point_idx, new_curvatures.end());
try {
if (path_poses.size() > curvatures.size()) {
const auto new_curvatures =
calculate_smoothed_curvatures(path_poses, params.curvature_average_window);
const auto first_new_point_idx = curvatures.size();
curvatures.insert(
curvatures.end(), new_curvatures.begin() + first_new_point_idx, new_curvatures.end());
}
} catch (const std::exception & e) {
std::cerr << "[drivable_area_expansion] could not calculate path curvatures\n";
curvatures.resize(path_poses.size(), 0.0);
}

Check notice on line 397 in planning/behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ New issue: Complex Method 

expand_drivable_area has a cyclomatic complexity of 9, 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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Codecov / codecov/patch

planning/behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp#L397 

Added line #L397 was not covered by tests
auto expansion =
calculate_expansion(path_poses, path.left_bound, path.right_bound, curvatures, params);
const auto curvature_expansion_ms = stop_watch.toc("curvatures_expansion");
Expand Down
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