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chore(crosswalk)!: delete wide crosswalk corresponding function #9329

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Nov 15, 2024
Merged

chore(crosswalk)!: delete wide crosswalk corresponding function #9329

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2 changes: 0 additions & 2 deletions ...ing/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,8 +51,6 @@ CrosswalkModuleManager::CrosswalkModuleManager(rclcpp::Node & node)
getOrDeclareParameter<double>(node, ns + ".stop_position.stop_distance_from_object_preferred");
cp.stop_distance_from_object_limit =
getOrDeclareParameter<double>(node, ns + ".stop_position.stop_distance_from_object_limit");
cp.far_object_threshold =
getOrDeclareParameter<double>(node, ns + ".stop_position.far_object_threshold");
cp.stop_position_threshold =
getOrDeclareParameter<double>(node, ns + ".stop_position.stop_position_threshold");
cp.min_acc_preferred =
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4 changes: 1 addition & 3 deletions ...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
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@@ -1,4 +1,4 @@
// Copyright 2020-2023 Tier IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 1088 to 1086, 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.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 6.00 to 5.97, 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 @@ -420,9 +420,7 @@
if (!ped_stop_pref_opt.has_value()) {
RCLCPP_INFO(logger_, "Failure to calculate pref_stop.");
return std::nullopt;
} else if (
default_stop_opt.has_value() && ped_stop_pref_opt->dist > default_stop_opt->dist &&
ped_stop_pref_opt->dist < default_stop_opt->dist + planner_param_.far_object_threshold) {
} else if (default_stop_opt.has_value() && ped_stop_pref_opt->dist > default_stop_opt->dist) {

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Complex Method 

CrosswalkModule::calcStopPose decreases in cyclomatic complexity from 17 to 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.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Complex Conditional 

CrosswalkModule::calcStopPose 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.
return default_stop_opt;
} else {
return ped_stop_pref_opt;
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1 change: 0 additions & 1 deletion ...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
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Expand Up @@ -122,7 +122,6 @@ class CrosswalkModule : public SceneModuleInterface
double stop_distance_from_object_preferred;
double stop_distance_from_object_limit;
double stop_distance_from_crosswalk;
double far_object_threshold;
double stop_position_threshold;
double min_acc_preferred;
double min_jerk_preferred;
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