feat(obstacle_cruise)!: type specified stop deccel limit and enabling abandon to stop #7121
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 3 findings(s) 🚩
- Improving Code Health: 2 findings(s) ✅
- Affected Hotspots: 1 files(s) 🔥
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method planner_interface.cpp: PlannerInterface::generateStopTrajectory
- Complex Conditional planner_interface.cpp: PlannerInterface::generateStopTrajectory
- Bumpy Road Ahead planner_interface.cpp: PlannerInterface::generateStopTrajectory
✅ Improving Code Health:
- Lines of Code in a Single File node.cpp 🔥
- Overall Code Complexity node.cpp 🔥
Annotations
Check notice on line 1 in planning/obstacle_cruise_planner/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Lines of Code in a Single File
The lines of code decreases from 1249 to 1237, 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_cruise_planner/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Overall Code Complexity
The mean cyclomatic complexity decreases from 4.40 to 4.37, 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.
Check warning on line 426 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 26, 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 warning on line 346 in planning/obstacle_cruise_planner/src/planner_interface.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Conditional
PlannerInterface::generateStopTrajectory has 1 complex conditionals with 3 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
Check warning on line 426 in planning/obstacle_cruise_planner/src/planner_interface.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Bumpy Road Ahead
PlannerInterface::generateStopTrajectory increases from 3 to 5 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 6.25, 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.