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fix(lane_change): add guard to neigibor lanelets #5245

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merged 1 commit into from
Oct 10, 2023
Merged

fix(lane_change): add guard to neigibor lanelets #5245

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3 changes: 3 additions & 0 deletions planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 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 1179 to 1182, 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 1 in planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 4.88 to 4.90, 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 @@ -946,6 +946,9 @@

const auto target_neighbor_preferred_lane_poly_2d =
utils::lane_change::getTargetNeighborLanesPolygon(route_handler, current_lanes, type_);
if (target_neighbor_preferred_lane_poly_2d.empty()) {
return false;
}

Check warning on line 951 in planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

NormalLaneChange::getLaneChangePaths increases in cyclomatic complexity from 38 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.

const auto target_objects = getTargetObjects(current_lanes, target_lanes);
debug_filtered_objects_ = target_objects;
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3 changes: 3 additions & 0 deletions planning/behavior_path_planner/src/utils/lane_change/utils.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

Check notice on line 1 in planning/behavior_path_planner/src/utils/lane_change/utils.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 4.94 to 4.97, 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 @@ -236,6 +236,9 @@
{
const auto target_neighbor_lanelets =
utils::lane_change::getTargetNeighborLanes(route_handler, current_lanes, type);
if (target_neighbor_lanelets.empty()) {
return {};

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planning/behavior_path_planner/src/utils/lane_change/utils.cpp#L240 

Added line #L240 was not covered by tests
}
const auto target_neighbor_preferred_lane_poly = lanelet::utils::getPolygonFromArcLength(
target_neighbor_lanelets, 0, std::numeric_limits<double>::max());

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