feat(imu_corrector): changed GyroBiasEstimator to use ndt pose instead of twist #5259
This check has been archived and is scheduled for deletion.
Learn more about checks retention
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)
succeeded
Oct 12, 2023 in 34s
CodeScene PR Check
✅ Quality Gates: OK
- Declining Code Health: 2 findings(s) 🚩
- Improving Code Health: 0 findings(s) ✅
- Affected Hotspots: 0 files(s) 🔥
Recommended Review Level: Detailed -- Increased risk for defects: The risk is higher as much of the code in this repo (99% of all commits) is written by other authors.
View detailed results in CodeScene
Details
🚩 Negative Code Health Impact (highest to lowest):
- Complex Conditional gyro_bias_estimation_module.cpp: GyroBiasEstimationModule::get_bias_base_link
- Complex Method gyro_bias_estimator.cpp: GyroBiasEstimator::timer_callback
Annotations
Check warning on line 118 in sensing/imu_corrector/src/gyro_bias_estimation_module.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Conditional
GyroBiasEstimationModule::get_bias_base_link has 1 complex conditionals with 2 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.
Check warning on line 161 in sensing/imu_corrector/src/gyro_bias_estimator.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
GyroBiasEstimator::timer_callback 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.
Loading