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feat(goal_planner): cut stop path to goal #9829

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feat(goal_planner): cut stop path to goal #9829

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5 changes: 4 additions & 1 deletion ...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1878 to 1881, 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.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
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const auto reference_path = std::invoke([&]() -> PathWithLaneId {
const auto s_current = lanelet::utils::getArcCoordinates(current_lanes, current_pose).length;
const double s_start = std::max(0.0, s_current - common_parameters.backward_path_length);
const double s_end = s_current + common_parameters.forward_path_length;
const double s_end = std::clamp(
lanelet::utils::getArcCoordinates(current_lanes, route_handler->getGoalPose()).length,
s_current + std::numeric_limits<double>::epsilon(),
s_current + common_parameters.forward_path_length);

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

GoalPlannerModule::generateStopPath already has high cyclomatic complexity, and now it increases in Lines of Code from 72 to 75. 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 1679 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp

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Codecov / codecov/patch

planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp#L1677-L1679 

Added lines #L1677 - L1679 were not covered by tests
return route_handler->getCenterLinePath(current_lanes, s_start, s_end, true);
});

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