feat(goal_planner): reject candidate path whose start pose direction …
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
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Declining Code Health: 2 findings(s) 🚩
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Affected Hotspots: 1 files(s) 🔥
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method goal_planner_module.cpp: GoalPlannerModule::planPullOverAsOutput 🔥
- Complex Method goal_planner_module.cpp: GoalPlannerModule::hasEnoughDistance 🔥
Annotations
Check notice on line 1 in planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Lines of Code in a Single File
The lines of code increases from 1741 to 1762, 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 1196 in planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
GoalPlannerModule::planPullOverAsOutput increases in cyclomatic complexity from 9 to 10, 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 1747 in planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
GoalPlannerModule::hasEnoughDistance has a cyclomatic complexity of 10, 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_goal_planner_module/src/goal_planner_module.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 5.10 to 5.16, 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.