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fix(obstacle_stop): add vector size guard #6254

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merged 2 commits into from
Feb 1, 2024
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fix(obstacle_stop): add vector size guard #6254

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386e1a6
add guard
yuki-takagi-66 Jan 31, 2024
b08e745
refactor
yuki-takagi-66 Jan 31, 2024
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2 changes: 2 additions & 0 deletions planning/obstacle_stop_planner/src/node.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2020 Tier IV, Inc.

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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 1257 to 1258, 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

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 8.81 to 8.86, 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.
//
// 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 @@ -1548,6 +1548,8 @@
const PredictedObjects & input_objects, const Pose & ego_pose, const TrajectoryPoints & traj,
const double dist_threshold, PredictedObjects & filtered_objects)
{
if (traj.size() < 2) return;

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

ObstacleStopPlannerNode::filterObstacles increases in cyclomatic complexity from 9 to 10, 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.
filtered_objects.header = input_objects.header;

for (auto & object : input_objects.objects) {
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