The lines of code increases from 1125 to 1135, 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.

The mean cyclomatic complexity increases from 4.67 to 4.71, 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.

AvoidanceModule::plan is no longer above the threshold for lines of code

The lines of code increases from 1762 to 1781, 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.

generateObstaclePolygonsForDrivableArea 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.

getSafetyCheckTargetObjects increases from 3 to 4 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.

The mean cyclomatic complexity decreases from 5.33 to 5.21, 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.