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fix(start_planner): fix path update #4931

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Sep 12, 2023
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fix(start_planner): fix path update #4931

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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2022 TIER IV, Inc.

Check notice on line 1 in planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 4.79 to 4.73, 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 @@ -592,7 +592,7 @@

// skip updating if enough time has not passed for preventing chattering between back and
// start_planner
if (!has_received_new_route && !last_pull_out_start_update_time_ && !status_.back_finished) {
if (!has_received_new_route) {

Check notice on line 595 in planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Complex Method 

StartPlannerModule::updatePullOutStatus decreases in cyclomatic complexity from 11 to 9, 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)

✅ No longer an issue: Complex Conditional 

StartPlannerModule::updatePullOutStatus no longer has a complex conditional. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
if (!last_pull_out_start_update_time_) {
last_pull_out_start_update_time_ = std::make_unique<rclcpp::Time>(clock_->now());
}
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