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fix(obstacle_avoidance_planner): suppress the osqp error about upper/lower bounds #5895

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fix(obstacle_avoidance_planner): suppress the osqp error about upper/lower bounds #5895

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fix(obstacle_avoidance_planner): suppress the osqp error about upper/…
takayuki5168 Dec 17, 2023
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takayuki5168 Dec 17, 2023
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9 changes: 7 additions & 2 deletions planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

Check notice on line 1 in planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1267 to 1270, 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.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -1423,8 +1423,13 @@
for (const size_t i : fixed_points_indices) {
A.block(A_rows_end, D_x * i, D_x, D_x) = Eigen::MatrixXd::Identity(D_x, D_x);

lb.segment(A_rows_end, D_x) = ref_points.at(i).fixed_kinematic_state->toEigenVector();
ub.segment(A_rows_end, D_x) = ref_points.at(i).fixed_kinematic_state->toEigenVector();
// NOTE: Without this, "ERROR in osqp_update_lower_bound: upper bound must be greater than
// or equal to lower bound" is shown somehow especially when reaching the goal.
const Eigen::VectorXd epsilon_vec = Eigen::VectorXd::Constant(D_x, 1e-9);
lb.segment(A_rows_end, D_x) =
ref_points.at(i).fixed_kinematic_state->toEigenVector() - epsilon_vec;
ub.segment(A_rows_end, D_x) =
ref_points.at(i).fixed_kinematic_state->toEigenVector() + epsilon_vec;

Check warning on line 1432 in planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

MPTOptimizer::calcConstraintMatrix already has high cyclomatic complexity, and now it increases in Lines of Code from 102 to 105. 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.

A_rows_end += D_x;
}
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