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fix(autoware_multi_object_tracker): fix bugprone-errors #9651

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Dec 16, 2024
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fix(autoware_multi_object_tracker): fix bugprone-errors #9651

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7 changes: 2 additions & 5 deletions perception/autoware_multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -208,11 +208,8 @@
constexpr double size_min = 0.1; // [m]
if (
object.shape.dimensions.x > size_max || object.shape.dimensions.y > size_max ||
object.shape.dimensions.z > size_max) {
return false;
} else if (
object.shape.dimensions.x < size_min || object.shape.dimensions.y < size_min ||
object.shape.dimensions.z < size_min) {
object.shape.dimensions.z > size_max || object.shape.dimensions.x < size_min ||
object.shape.dimensions.y < size_min || object.shape.dimensions.z < size_min) {

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Complex Conditional 

BicycleTracker::measureWithShape decreases from 2 complex conditionals with 4 branches to 1 complex conditionals with 5 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.

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perception/autoware_multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp#L211-L212 

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return false;
}

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6 changes: 3 additions & 3 deletions perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp
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Expand Up @@ -315,7 +315,7 @@
double w = vel * sin_slip / lr_;
const double sin_2yaw = std::sin(2.0f * X_t(IDX::YAW));
const double w_dtdt = w * dt * dt;
const double vv_dtdt__lr = vel * vel * dt * dt / lr_;
const double vv_dtdt_lr = vel * vel * dt * dt / lr_;

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perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp#L318 

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// Predict state vector X t+1
Eigen::MatrixXd X_next_t(DIM, 1); // predicted state
Expand All @@ -332,11 +332,11 @@
A(IDX::X, IDX::YAW) = -vel * sin_yaw * dt - 0.5 * vel * cos_yaw * w_dtdt;
A(IDX::X, IDX::VEL) = cos_yaw * dt - sin_yaw * w_dtdt;
A(IDX::X, IDX::SLIP) =
-vel * sin_yaw * dt - 0.5 * (cos_slip * sin_yaw + sin_slip * cos_yaw) * vv_dtdt__lr;
-vel * sin_yaw * dt - 0.5 * (cos_slip * sin_yaw + sin_slip * cos_yaw) * vv_dtdt_lr;

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perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp#L335 

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A(IDX::Y, IDX::YAW) = vel * cos_yaw * dt - 0.5 * vel * sin_yaw * w_dtdt;
A(IDX::Y, IDX::VEL) = sin_yaw * dt + cos_yaw * w_dtdt;
A(IDX::Y, IDX::SLIP) =
vel * cos_yaw * dt + 0.5 * (cos_slip * cos_yaw - sin_slip * sin_yaw) * vv_dtdt__lr;
vel * cos_yaw * dt + 0.5 * (cos_slip * cos_yaw - sin_slip * sin_yaw) * vv_dtdt_lr;

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perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp#L339 

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A(IDX::YAW, IDX::VEL) = 1.0 / lr_ * sin_slip * dt;
A(IDX::YAW, IDX::SLIP) = vel / lr_ * cos_slip * dt;

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10 changes: 5 additions & 5 deletions perception/autoware_multi_object_tracker/src/processor/input_manager.cpp
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Expand Up @@ -263,11 +263,11 @@
// The default object_earliest_time is to have a 1-second time interval
const rclcpp::Time object_earliest_time_default =
object_latest_time - rclcpp::Duration::from_seconds(1.0);
if (latest_exported_object_time_ < object_earliest_time_default) {
// if the latest exported object time is too old, set to the default
object_earliest_time = object_earliest_time_default;
} else if (latest_exported_object_time_ > object_latest_time) {
// if the latest exported object time is newer than the object_latest_time, set to the default
if (
latest_exported_object_time_ < object_earliest_time_default ||
latest_exported_object_time_ > object_latest_time) {

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perception/autoware_multi_object_tracker/src/processor/input_manager.cpp#L267-L268 

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// if the latest exported object time is too old or newer than the object_latest_time,
// set to the default
object_earliest_time = object_earliest_time_default;
} else {
// The object_earliest_time is the latest exported object time
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