feat(avoidance): make detection area dynamically
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 2 findings(s) 🚩
- Improving Code Health: 3 findings(s) ✅
- Affected Hotspots: 2 files(s) 🔥
Recommended Review Level: Detailed -- Inspect the code that degrades in code health.
View detailed results in CodeScene
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method manager.cpp: AvoidanceModuleManager::AvoidanceModuleManager
- Large Method manager.cpp: AvoidanceByLaneChangeModuleManager::AvoidanceByLaneChangeModuleManager
✅ Improving Code Health:
- Complex Method utils.cpp: filterTargetObjects 🔥
- Lines of Code in a Single File utils.cpp 🔥
- Overall Code Complexity utils.cpp 🔥
Annotations
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Lines of Code in a Single File
The lines of code increases from 2159 to 2160, 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 139 in planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
AvoidanceModuleManager::AvoidanceModuleManager already has high cyclomatic complexity, and now it increases in Lines of Code from 237 to 243. 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 354 in planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
AvoidanceByLaneChangeModuleManager::AvoidanceByLaneChangeModuleManager increases from 98 to 104 lines of code, 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 1 in planning/behavior_path_planner/src/utils/avoidance/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Lines of Code in a Single File
The lines of code decreases from 1360 to 1355, 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 979 in planning/behavior_path_planner/src/utils/avoidance/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Complex Method
filterTargetObjects decreases in cyclomatic complexity from 62 to 60, 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_planner/src/utils/avoidance/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Overall Code Complexity
The mean cyclomatic complexity decreases from 5.50 to 5.46, 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 notice on line 1626 in planning/behavior_path_planner/src/utils/avoidance/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Excess Number of Function Arguments
separateObjectsByPath increases from 6 to 7 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.