fix(obstacle_stop_planner): change the nearest_collision_point calculation place #5794
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:
- Complex Method node.cpp: ObstacleStopPlannerNode::searchPredictedObject
- Bumpy Road Ahead node.cpp: ObstacleStopPlannerNode::searchPredictedObject
- Lines of Code in a Single File node.cpp
- Overall Code Complexity node.cpp
Annotations
Check notice on line 1 in planning/obstacle_stop_planner/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Lines of Code in a Single File
The lines of code decreases from 1257 to 1248, 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.
Check notice on line 1 in planning/obstacle_stop_planner/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Overall Code Complexity
The mean cyclomatic complexity decreases from 8.81 to 8.62, 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.
Check notice on line 968 in planning/obstacle_stop_planner/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Bumpy Road Ahead
ObstacleStopPlannerNode::searchPredictedObject decreases from 11 to 9 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.
Check notice on line 968 in planning/obstacle_stop_planner/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Complex Method
ObstacleStopPlannerNode::searchPredictedObject decreases in cyclomatic complexity from 59 to 55, 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.