feat(obstacle_cruise_planner): add jerk and acc limits for slow-down #5810
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 1 findings(s) 🚩
- Improving Code Health: 0 findings(s) ✅
- Affected Hotspots: 0 files(s) 🔥
Recommended Review Level: Detailed -- Inspect the code that degrades in code health.
View detailed results in CodeScene
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method planner_interface.cpp: PlannerInterface::generateStopTrajectory
Annotations
Check warning on line 409 in planning/obstacle_cruise_planner/src/planner_interface.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
PlannerInterface::generateStopTrajectory increases in cyclomatic complexity from 14 to 15, 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 409 in planning/obstacle_cruise_planner/src/planner_interface.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Bumpy Road Ahead
PlannerInterface::generateStopTrajectory increases from 3 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.
Check notice on line 1 in planning/obstacle_cruise_planner/src/planner_interface.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 5.50 to 5.56, 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.