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fix(predicted_path_checker): check if trajectory size #6730

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Apr 2, 2024
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fix(predicted_path_checker): check if trajectory size #6730

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4 changes: 4 additions & 0 deletions ...ol/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -537,6 +537,10 @@
const Pose & ego_pose, const TrajectoryPoints & traj, const double dist_threshold,
const bool use_prediction, PredictedObjects & filtered_objects)
{
if (traj.size() < 2) {
RCLCPP_ERROR(rclcpp::get_logger("predicted_path_checker"), "Trajectory size is less than 2.");
return;
}

Check warning on line 543 in control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

PredictedPathCheckerNode::filterObstacles increases in cyclomatic complexity from 10 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.
filtered_objects.header.frame_id = object_ptr_.get()->header.frame_id;
filtered_objects.header.stamp = this->now();

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