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fix(utils): improve monotonic bound generation logic #4706

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Aug 24, 2023
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fix(utils): improve monotonic bound generation logic #4706

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18 changes: 16 additions & 2 deletions planning/behavior_path_planner/src/utils/utils.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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ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 2590 to 2604, 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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ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 6.00 to 6.03, 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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continue;
}

for (size_t j = intersect_idx.get() + 1; j < bound_with_pose.size(); j++) {
set_orientation(ret, j, getPose(path_points.at(i)).orientation);
if (i + 1 == path_points.size()) {
for (size_t j = intersect_idx.get(); j < bound_with_pose.size(); j++) {
if (j + 1 == bound_with_pose.size()) {
const auto yaw =

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planning/behavior_path_planner/src/utils/utils.cpp#L1761 

Added line #L1761 was not covered by tests
calcAzimuthAngle(bound_with_pose.at(j - 1).position, bound_with_pose.at(j).position);
set_orientation(ret, j, createQuaternionFromRPY(0.0, 0.0, yaw));
} else {
const auto yaw =
calcAzimuthAngle(bound_with_pose.at(j).position, bound_with_pose.at(j + 1).position);
set_orientation(ret, j, createQuaternionFromRPY(0.0, 0.0, yaw));
}

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planning/behavior_path_planner/src/utils/utils.cpp#L1768 

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}
} else {
for (size_t j = intersect_idx.get() + 1; j < bound_with_pose.size(); j++) {
set_orientation(ret, j, getPose(path_points.at(i)).orientation);

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planning/behavior_path_planner/src/utils/utils.cpp#L1771-L1772 

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}

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Bumpy Road Ahead 

makeBoundLongitudinallyMonotonic increases from 5 to 7 logical blocks with deeply nested code, threshold is one single 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.

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❌ Getting worse: Complex Method 

makeBoundLongitudinallyMonotonic increases in cyclomatic complexity from 36 to 39, 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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❌ New issue: Deep, Nested Complexity 

makeBoundLongitudinallyMonotonic has a nested complexity depth of 4, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.
}

constexpr size_t OVERLAP_CHECK_NUM = 3;
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