feat(goal_planner): prioritize pull over path by curvature #7791
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)
failed
Jul 4, 2024 in 45s
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
Change in average Code Health of affected files: -0.01 (4.18 -> 4.17)
- Declining Code Health: 4 findings(s) 🚩
- Improving Code Health: 1 findings(s) ✅
- Affected Hotspots: 1 files(s) 🔥
Details
🚩 Declining Code Health (highest to lowest):
- Large Method manager.cpp: GoalPlannerModuleManager::init
- Complex Method goal_planner_module.cpp: GoalPlannerModule::onTimer 🔥
- Complex Conditional goal_planner_module.cpp: GoalPlannerModule::sortPullOverPathCandidatesByGoalPriority 🔥
- Complex Method goal_planner_module.cpp: GoalPlannerModule::sortPullOverPathCandidatesByGoalPriority 🔥
✅ Improving Code Health:
- Bumpy Road Ahead goal_planner_module.cpp: GoalPlannerModule::sortPullOverPathCandidatesByGoalPriority 🔥
Annotations
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Lines of Code in a Single File
The lines of code increases from 1955 to 1980, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
GoalPlannerModule::onTimer increases in cyclomatic complexity from 36 to 37, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
GoalPlannerModule::sortPullOverPathCandidatesByGoalPriority increases in cyclomatic complexity from 20 to 26, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Conditional
GoalPlannerModule::sortPullOverPathCandidatesByGoalPriority increases from 1 complex conditionals with 2 branches to 2 complex conditionals with 4 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Bumpy Road Ahead
GoalPlannerModule::sortPullOverPathCandidatesByGoalPriority decreases from 5 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 5.36 to 5.46, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
GoalPlannerModuleManager::init increases from 341 to 342 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
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