fix(blind_spot): find collision point using sibling straight lanelet boundary #6599
CodeScene PR Check
✅ Code Health Quality Gates: OK
- Declining Code Health: 0 findings(s) 🚩
- Improving Code Health: 4 findings(s) ✅
- Affected Hotspots: 0 files(s) 🔥
Recommended Review Level: Lightweight sanity check
View detailed results in CodeScene
Details
✅ Improving Code Health:
- Overall Code Complexity scene.cpp
- Complex Method scene.cpp: BlindSpotModule::modifyPathVelocity
- Complex Method scene.cpp: BlindSpotModule::getFirstConflictingLanelet
- Bumpy Road Ahead scene.cpp: BlindSpotModule::getFirstConflictingLanelet
Annotations
Check notice on line 114 in planning/behavior_velocity_blind_spot_module/src/scene.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Complex Method
BlindSpotModule::modifyPathVelocity decreases in cyclomatic complexity from 12 to 11, 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 271 in planning/behavior_velocity_blind_spot_module/src/scene.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Complex Method
BlindSpotModule::getFirstConflictingLanelet is no longer above the threshold for cyclomatic complexity. 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 271 in planning/behavior_velocity_blind_spot_module/src/scene.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Bumpy Road Ahead
BlindSpotModule::getFirstConflictingLanelet is no longer above the threshold for logical blocks with deeply nested code. 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/behavior_velocity_blind_spot_module/src/scene.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Overall Code Complexity
The mean cyclomatic complexity decreases from 6.05 to 5.79, 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.