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feat(behavior_path_planner): potentially speed up cut overlapped lanes #5906

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merged 2 commits into from
Dec 20, 2023
Merged

feat(behavior_path_planner): potentially speed up cut overlapped lanes #5906

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e0745ed
Use a lambda and for_each to potentially reduce computation time
danielsanchezaran Dec 18, 2023
11f05db
further simplify the code with lambda
danielsanchezaran Dec 19, 2023
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58 changes: 27 additions & 31 deletions ...g/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
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Original file line number Diff line number Diff line change
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// Copyright 2023 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 1458 to 1461, 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.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 10.06 to 9.94, 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.
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[&has_same_id_lane, &p](const auto & lanelet) { return has_same_id_lane(lanelet, p); });
};

// Step1. find first path point within drivable lanes
size_t start_point_idx = std::numeric_limits<size_t>::max();
for (const auto & lanes : shorten_lanes) {
for (size_t i = 0; i < original_points.size(); ++i) {
// check right lane
if (has_same_id_lane(lanes.right_lane, original_points.at(i))) {
start_point_idx = std::min(start_point_idx, i);
}
const auto is_point_in_drivable_lanes = [&has_same_id_lane, &has_same_id_lanes](
const auto & lanes, const auto & p) {

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planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp#L589-L590 

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if (has_same_id_lane(lanes.right_lane, p)) {
return true;
}
// check left lane
if (has_same_id_lane(lanes.left_lane, p)) {
return true;
}
// check middle lanes
if (has_same_id_lanes(lanes.middle_lanes, p)) {
return true;

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}
return false;
};

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// check left lane
if (has_same_id_lane(lanes.left_lane, original_points.at(i))) {
start_point_idx = std::min(start_point_idx, i);
}
// Step1. find first path point within drivable lanes
size_t start_point_idx = original_points.size();

// check middle lanes
if (has_same_id_lanes(lanes.middle_lanes, original_points.at(i))) {
start_point_idx = std::min(start_point_idx, i);
}
for (size_t i = 0; i < original_points.size(); ++i) {
const bool first_path_point_in_drivable_lane_found = std::any_of(
shorten_lanes.begin(), shorten_lanes.end(),
[&is_point_in_drivable_lanes, &original_points, i](const auto & lanes) {
return is_point_in_drivable_lanes(lanes, original_points.at(i));

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});
if (first_path_point_in_drivable_lane_found) {
start_point_idx = i;
break;
}
}

// Step2. pick up only path points within drivable lanes
for (const auto & lanes : shorten_lanes) {
for (size_t i = start_point_idx; i < original_points.size(); ++i) {
// check right lane
if (has_same_id_lane(lanes.right_lane, original_points.at(i))) {
path.points.push_back(original_points.at(i));
continue;
}

// check left lane
if (has_same_id_lane(lanes.left_lane, original_points.at(i))) {
if (is_point_in_drivable_lanes(lanes, original_points.at(i))) {
path.points.push_back(original_points.at(i));
continue;
}

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Complex Method 

cutOverlappedLanes decreases in cyclomatic complexity from 15 to 11, 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 middle lanes
if (has_same_id_lanes(lanes.middle_lanes, original_points.at(i))) {
path.points.push_back(original_points.at(i));
continue;
}

start_point_idx = i;
break;
}
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