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fix(avoidance): output invalid avoidance path

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) succeeded Nov 28, 2023 in 47s

CodeScene PR Check

βœ… Code Health Quality Gates: OK

  • Declining Code Health: 0 findings(s) 🚩
  • Improving Code Health: 3 findings(s) βœ…
  • Affected Hotspots: 1 files(s) πŸ”₯

Recommended Review Level: Detailed -- Increased risk for defects: The risk is higher as much of the code in this repo (99% of all commits) is written by other authors.
View detailed results in CodeScene

Details

βœ… Improving Code Health:

  • Lines of Code in a Single File avoidance_module.cpp πŸ”₯
  • Overall Code Complexity avoidance_module.cpp πŸ”₯
  • Complex Method avoidance_module.cpp: AvoidanceModule::fillEgoStatus πŸ”₯

Annotations

Check notice on line 1 in planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp

See this annotation in the file changed.

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

βœ… Getting better: Lines of Code in a Single File

The lines of code decreases from 1198 to 1191, 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 495 in planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp

See this annotation in the file changed.

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

βœ… Getting better: Complex Method

AvoidanceModule::fillEgoStatus decreases in cyclomatic complexity from 11 to 10, 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 1 in planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp

See this annotation in the file changed.

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

βœ… Getting better: Overall Code Complexity

The mean cyclomatic complexity decreases from 4.95 to 4.93, 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.