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feat(route_handler): support shoulder lane in getLeft(Right)Lanelet #4604

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Aug 13, 2023
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feat(route_handler): support shoulder lane in getLeft(Right)Lanelet #4604

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20 changes: 20 additions & 0 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.

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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 1825 to 1841, 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)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 4.34 to 4.40, 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 @@ -942,6 +942,16 @@
boost::optional<lanelet::ConstLanelet> RouteHandler::getRightLanelet(
const lanelet::ConstLanelet & lanelet, const bool enable_same_root) const
{
// right road lanelet of shoulder lanelet
if (isShoulderLanelet(lanelet)) {
for (const auto & road_lanelet : road_lanelets_) {
if (lanelet::geometry::rightOf(road_lanelet, lanelet)) {
return road_lanelet;
}
}
return boost::none;

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planning/route_handler/src/route_handler.cpp#L952 

Added line #L952 was not covered by tests
}

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

RouteHandler::getRightLanelet increases in cyclomatic complexity from 10 to 13, 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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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ New issue: Bumpy Road Ahead 

RouteHandler::getRightLanelet has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.
// routable lane
const auto & right_lane = routing_graph_ptr_->right(lanelet);
if (right_lane) {
Expand Down Expand Up @@ -999,6 +1009,16 @@
boost::optional<lanelet::ConstLanelet> RouteHandler::getLeftLanelet(
const lanelet::ConstLanelet & lanelet, const bool enable_same_root) const
{
// left road lanelet of shoulder lanelet
if (isShoulderLanelet(lanelet)) {
for (const auto & road_lanelet : road_lanelets_) {
if (lanelet::geometry::leftOf(road_lanelet, lanelet)) {
return road_lanelet;
}
}
return boost::none;

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planning/route_handler/src/route_handler.cpp#L1019 

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}

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

RouteHandler::getLeftLanelet increases in cyclomatic complexity from 10 to 13, 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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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ New issue: Bumpy Road Ahead 

RouteHandler::getLeftLanelet has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.
// routable lane
const auto & left_lane = routing_graph_ptr_->left(lanelet);
if (left_lane) {
Expand Down
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