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fix(intersection): fix possible invalid access #6542

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merged 1 commit into from
Mar 5, 2024
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fix(intersection): fix possible invalid access #6542

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3 changes: 3 additions & 0 deletions planning/behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2024 Tier IV, Inc.

Check notice on line 1 in planning/behavior_velocity_intersection_module/src/scene_intersection_stuck.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 12.00 to 12.13, 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 @@ -34,6 +34,9 @@
lanelet::Points3d points;
double accumulated_length = 0;
size_t start_index = linestring.size();
if (start_index == 0) {
return lanelet::LineString3d{lanelet::InvalId, points};
}

Check warning on line 39 in planning/behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

getLineStringFromArcLength 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.
for (size_t i = 0; i < linestring.size() - 1; i++) {
const auto & p1 = linestring[i];
const auto & p2 = linestring[i + 1];
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