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fix(route_handler): planning route with goal lanelet in candidate_lanelets #6802

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fix(route_handler): planning route with goal lanelet in candidate_lanelets #6802

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a60cb5c
fix(route_handler): planning route with goal lanelet in candidate_lan…
Apr 11, 2024
678ab5f
Merge branch 'autowarefoundation:main' into fix-route-handler
sebekx Apr 12, 2024
858c7e3
Merge branch 'autowarefoundation:main' into fix-route-handler
sebekx Apr 12, 2024
c958d24
Merge branch 'main' into fix-route-handler
sebekx Apr 17, 2024
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13 changes: 7 additions & 6 deletions planning/route_handler/src/route_handler.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021-2023 Tier IV, Inc.

Check notice on line 1 in planning/route_handler/src/route_handler.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 4.50 to 4.49, 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 @@ -587,12 +587,13 @@
}
candidate_lanelets = prev_lanes;
}
// loop check
if (std::any_of(
candidate_lanelets.begin(), candidate_lanelets.end(),
[lanelet](auto & prev_llt) { return lanelet.id() == prev_llt.id(); })) {
break;
}

// loop check, remove goal lanelet from candidate lanelets
candidate_lanelets.erase(
std::remove_if(
candidate_lanelets.begin(), candidate_lanelets.end(),
[lanelet](auto & prev_llt) { return lanelet.id() == prev_llt.id(); }),
candidate_lanelets.end());

Check notice on line 596 in planning/route_handler/src/route_handler.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Complex Method 

RouteHandler::getLaneletSequenceUpTo decreases in cyclomatic complexity from 15 to 14, 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.
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// If lanelet_sequence_backward with input lanelet contains all candidate lanelets,
// break the loop.
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