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perf(static_obstacle_avoidance): remove redundant calculation related to lanelet functions #9355

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merged 4 commits into from
Nov 18, 2024

use std::optional

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Merged

perf(static_obstacle_avoidance): remove redundant calculation related to lanelet functions #9355

use std::optional
1494a6a
Select commit
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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) failed Nov 18, 2024 in 32s

CodeScene PR Check

❌ Code Health Quality Gates: FAILED

Change in average Code Health of affected files: -0.01 (4.21 -> 4.21)

  • Declining Code Health: 1 findings(s) 🚩
  • Improving Code Health: 2 findings(s) ✅
  • Affected Hotspots: 2 files(s) 🔥

View detailed results in CodeScene

Details

🚩 Declining Code Health (highest to lowest):

  • Complex Method scene.cpp: StaticObstacleAvoidanceModule::fillFundamentalData 🔥

✅ Improving Code Health:

  • Lines of Code in a Single File utils.cpp 🔥
  • Large Method scene.cpp: StaticObstacleAvoidanceModule::fillFundamentalData 🔥

Annotations

Check notice on line 1 in planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1421 to 1428, 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 303 in planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

StaticObstacleAvoidanceModule::fillFundamentalData has a cyclomatic complexity of 9, 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 303 in planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Large Method 

StaticObstacleAvoidanceModule::fillFundamentalData is no longer above the threshold for lines of code

Check notice on line 1 in planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 5.70 to 5.72, 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 1 in planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 2005 to 1999, 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 2601 in planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

ℹ New issue: Excess Number of Function Arguments 

calcDistanceToReturnDeadLine has 6 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
View more details on CodeScene Delta Analysis