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chore(static_obstacle_avoidance, dynamic_obstacle_avoidance): rename avoidance package #7168

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merged 8 commits into from
May 31, 2024

docs: update module name

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Merged

chore(static_obstacle_avoidance, dynamic_obstacle_avoidance): rename avoidance package #7168

docs: update module name
b15cd3b
Select commit
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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) failed May 31, 2024 in 1m 20s

CodeScene PR Check

❌ Code Health Quality Gates: FAILED

  • Declining Code Health: 21 findings(s) 🚩
  • Improving Code Health: 37 findings(s) ✅

View detailed results in CodeScene

Details

🚩 Declining Code Health (highest to lowest):

  • Complex Method shift_line_generator.cpp: ShiftLineGenerator::generateAvoidOutline
  • Complex Method manager.cpp: StaticObstacleAvoidanceModuleManager::updateModuleParams
  • Complex Method shift_line_generator.cpp: ShiftLineGenerator::addReturnShiftLine
  • Complex Method scene.cpp: DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObjects
  • Complex Method scene.cpp: DynamicObstacleAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon
  • Complex Method scene.cpp: DynamicObstacleAvoidanceModule::registerRegulatedObjects
  • Complex Method scene.cpp: DynamicObstacleAvoidanceModule::calcValidLengthToAvoid
  • Large Method scene.cpp: StaticObstacleAvoidanceModule::fillFundamentalData
  • Complex Method scene.cpp: StaticObstacleAvoidanceModule::insertPrepareVelocity
  • Complex Method scene.cpp: StaticObstacleAvoidanceModule::isSafePath
  • Complex Method scene.cpp: DynamicObstacleAvoidanceModule::calcMinMaxLateralOffsetToAvoidRegulatedObject
  • Complex Method scene.cpp: DynamicObstacleAvoidanceModule::getObjectType
  • Complex Method scene.cpp: StaticObstacleAvoidanceModule::addNewShiftLines
  • Complex Method scene.cpp: StaticObstacleAvoidanceModule::plan
  • Complex Method scene.cpp: DynamicObstacleAvoidanceModule::calcMinMaxLateralOffsetToAvoidUnregulatedObject
  • Complex Method scene.cpp: DynamicObstacleAvoidanceModule::registerUnregulatedObjects
  • Complex Method scene.cpp: DynamicObstacleAvoidanceModule::calcPredictedPathBasedDynamicObstaclePolygon
  • Complex Method scene.cpp: StaticObstacleAvoidanceModule::fillEgoStatus
  • Complex Method scene.cpp: StaticObstacleAvoidanceModule::getCurrentModuleState
  • Complex Method scene.cpp: DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstUnregulatedObjects
  • Complex Method scene.cpp: DynamicObstacleAvoidanceModule::plan

✅ Improving Code Health:

  • Complex Method manager.cpp: AvoidanceModuleManager::updateModuleParams
  • Deep, Nested Complexity scene.cpp: DynamicAvoidanceModule::calcCollisionSection
  • Complex Conditional scene.cpp: AvoidanceModule::addNewShiftLines
  • Large Method manager.cpp: DynamicAvoidanceModuleManager::updateModuleParams
  • Large Method manager.cpp: DynamicAvoidanceModuleManager::init
  • Complex Conditional scene.cpp: DynamicAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObjects
  • Complex Conditional scene.cpp: DynamicAvoidanceModule::calcMinMaxLateralOffsetToAvoidRegulatedObject
  • Complex Conditional scene.cpp: DynamicAvoidanceModule::calcMinMaxLateralOffsetToAvoidUnregulatedObject
  • Complex Conditional scene.cpp: DynamicAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon
  • Large Method scene.cpp: AvoidanceModule::fillFundamentalData
  • Complex Method scene.cpp: DynamicAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObjects
  • Complex Method scene.cpp: DynamicAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon
  • Complex Method scene.cpp: DynamicAvoidanceModule::registerRegulatedObjects
  • Complex Method scene.cpp: DynamicAvoidanceModule::calcValidLengthToAvoid
  • Complex Method scene.cpp: DynamicAvoidanceModule::calcMinMaxLateralOffsetToAvoidRegulatedObject
  • Complex Method scene.cpp: DynamicAvoidanceModule::getObjectType
  • Complex Method scene.cpp: DynamicAvoidanceModule::calcMinMaxLateralOffsetToAvoidUnregulatedObject
  • Complex Method scene.cpp: DynamicAvoidanceModule::registerUnregulatedObjects
  • Complex Method scene.cpp: DynamicAvoidanceModule::calcPredictedPathBasedDynamicObstaclePolygon
  • Complex Method scene.cpp: DynamicAvoidanceModule::determineWhetherToAvoidAgainstUnregulatedObjects
  • Complex Method scene.cpp: DynamicAvoidanceModule::plan
  • Complex Method scene.cpp: AvoidanceModule::insertPrepareVelocity
  • Complex Method scene.cpp: AvoidanceModule::isSafePath
  • Complex Method scene.cpp: AvoidanceModule::addNewShiftLines
  • Complex Method scene.cpp: AvoidanceModule::plan
  • Complex Method scene.cpp: AvoidanceModule::fillEgoStatus
  • Complex Method scene.cpp: AvoidanceModule::getCurrentModuleState
  • Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::registerRegulatedObjects
  • Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::registerUnregulatedObjects
  • Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObjects
  • Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::updateRefPathBeforeLaneChange
  • Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::calcCollisionSection
  • Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::willObjectCutOut
  • Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::calcValidLengthToAvoid
  • Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::calcPredictedPathBasedDynamicObstaclePolygon
  • Bumpy Road Ahead scene.cpp: AvoidanceModule::isSafePath
  • Bumpy Road Ahead scene.cpp: AvoidanceModule::addNewShiftLines

Annotations

Check notice on line 43 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Complex Method 

AvoidanceModuleManager::updateModuleParams is no longer above the threshold for cyclomatic complexity. 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 43 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

StaticObstacleAvoidanceModuleManager::updateModuleParams has a cyclomatic complexity of 16, 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/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1223 to 1240, 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 1680 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Complex Method 

AvoidanceModule::insertPrepareVelocity is no longer above the threshold for cyclomatic complexity. 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 732 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Complex Method 

AvoidanceModule::isSafePath is no longer above the threshold for cyclomatic complexity. 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 1106 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Complex Method 

AvoidanceModule::addNewShiftLines is no longer above the threshold for cyclomatic complexity. 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 994 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Complex Method 

AvoidanceModule::plan is no longer above the threshold for cyclomatic complexity. 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 515 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Complex Method 

AvoidanceModule::fillEgoStatus is no longer above the threshold for cyclomatic complexity. 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 119 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Complex Method 

AvoidanceModule::getCurrentModuleState is no longer above the threshold for cyclomatic complexity. 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 1680 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

StaticObstacleAvoidanceModule::insertPrepareVelocity has a cyclomatic complexity of 17, 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 732 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

StaticObstacleAvoidanceModule::isSafePath has a cyclomatic complexity of 17, 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 1106 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

StaticObstacleAvoidanceModule::addNewShiftLines has a cyclomatic complexity of 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 warning on line 994 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

StaticObstacleAvoidanceModule::plan has a cyclomatic complexity of 13, 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 515 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

StaticObstacleAvoidanceModule::fillEgoStatus 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.

Check warning on line 119 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

StaticObstacleAvoidanceModule::getCurrentModuleState 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.

Check notice on line 1 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Complex Conditional 

AvoidanceModule::addNewShiftLines no longer has a complex conditional. 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 notice on line 1 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

ℹ New issue: Complex Conditional 

StaticObstacleAvoidanceModule::addNewShiftLines has 2 complex conditionals with 4 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 notice on line 291 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Large Method 

AvoidanceModule::fillFundamentalData is no longer above the threshold for lines of code. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.

Check warning on line 291 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Large Method 

StaticObstacleAvoidanceModule::fillFundamentalData has 81 lines, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.

Check notice on line 732 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Bumpy Road Ahead 

AvoidanceModule::isSafePath is no longer above the threshold for logical blocks with deeply nested code. 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 1106 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Bumpy Road Ahead 

AvoidanceModule::addNewShiftLines is no longer above the threshold for logical blocks with deeply nested code. 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 732 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

ℹ New issue: Bumpy Road Ahead 

StaticObstacleAvoidanceModule::isSafePath has 3 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested 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 1106 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

ℹ New issue: Bumpy Road Ahead 

StaticObstacleAvoidanceModule::addNewShiftLines has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested 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 warning on line 380 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

ShiftLineGenerator::generateAvoidOutline already has high cyclomatic complexity, and now it increases in Lines of Code from 202 to 203. 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 1218 in planning/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

ShiftLineGenerator::addReturnShiftLine already has high cyclomatic complexity, and now it increases in Lines of Code from 150 to 152. 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.
View more details on CodeScene Delta Analysis