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fix(pid_longitudinal_controller): fix the same point error #8758

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Original file line number Diff line number Diff line change
Expand Up @@ -507,6 +507,8 @@
// calculate the target motion for delay compensation
constexpr double min_running_dist = 0.01;
if (control_data.state_after_delay.running_distance > min_running_dist) {
control_data.interpolated_traj.points =
autoware::motion_utils::removeOverlapPoints(control_data.interpolated_traj.points);

Check warning on line 511 in control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method

PidLongitudinalController::getControlData already has high cyclomatic complexity, and now it increases in Lines of Code from 87 to 89. 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.
const auto target_pose = longitudinal_utils::findTrajectoryPoseAfterDistance(
control_data.nearest_idx, control_data.state_after_delay.running_distance,
control_data.interpolated_traj);
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