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perf(motion_velocity_smoother): remove some heavy debug logging #8798

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Sep 13, 2024
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perf(motion_velocity_smoother): remove some heavy debug logging #8798

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9 changes: 0 additions & 9 deletions ...ty_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

Check notice on line 1 in planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 9.14 to 9.00, 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 @@ -248,16 +248,7 @@
const auto vel_at_wp = interpolation::lerp(xs, vs, distances);
const auto acc_at_wp = interpolation::lerp(xs, as, distances);
const auto jerk_at_wp = interpolation::lerp(xs, js, distances);

Check notice on line 251 in planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Complex Method 

calcStopVelocityWithConstantJerkAccLimit decreases in cyclomatic complexity from 26 to 25, 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.
// for debug
std::stringstream ssi;
for (unsigned int i = 0; i < distances.size(); ++i) {
ssi << "d: " << distances.at(i) << ", v: " << vel_at_wp.at(i) << ", a: " << acc_at_wp.at(i)
<< ", j: " << jerk_at_wp.at(i) << std::endl;
}
RCLCPP_DEBUG(
rclcpp::get_logger("velocity_planning_utils"), "Interpolated = %s", ssi.str().c_str());

for (size_t i = 0; i < vel_at_wp.size(); ++i) {
output_trajectory.at(start_index + i).longitudinal_velocity_mps = vel_at_wp.at(i);
output_trajectory.at(start_index + i).acceleration_mps2 = acc_at_wp.at(i);
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