feat(goal_planner): reject candidate path whose start pose direction is not aligned with ego path #6935
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
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Declining Code Health: 1 findings(s) 🚩
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Affected Hotspots: 1 files(s) 🔥
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method goal_planner_module.cpp: GoalPlannerModule::selectPullOverPath 🔥
Annotations
Check notice on line 1 in planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Lines of Code in a Single File
The lines of code increases from 1909 to 1928, 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 warning on line 970 in planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
GoalPlannerModule::selectPullOverPath increases in cyclomatic complexity from 13 to 14, 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 1 in planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 5.27 to 5.28, 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.