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feat(intersection_occlusion)!: react RTC disapproval and stop even if occlusion detection is OFF #6279

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merged 1 commit into from
Feb 1, 2024
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feat(intersection_occlusion)!: react RTC disapproval and stop even if occlusion detection is OFF #6279

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16 changes: 7 additions & 9 deletions planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2020 Tier IV, Inc.

Check notice on line 1 in planning/behavior_velocity_intersection_module/src/scene_intersection.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 1108 to 1106, 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_velocity_intersection_module/src/scene_intersection.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 4.64 to 4.42, 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 @@ -735,9 +735,7 @@
path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN);
}
}
if (
!rtc_occlusion_approved && decision_result.occlusion_stopline_idx &&
planner_param.occlusion.enable) {
if (!rtc_occlusion_approved && decision_result.occlusion_stopline_idx) {

Check notice on line 738 in planning/behavior_velocity_intersection_module/src/scene_intersection.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Complex Conditional 

reactRTCApprovalByDecisionResult 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.
const auto occlusion_stopline_idx = decision_result.occlusion_stopline_idx.value();
planning_utils::setVelocityFromIndex(occlusion_stopline_idx, 0.0, path);
debug_data->occlusion_stop_wall_pose =
Expand Down Expand Up @@ -814,7 +812,7 @@
path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN);
}
}
if (!rtc_occlusion_approved && planner_param.occlusion.enable) {
if (!rtc_occlusion_approved) {
const auto stopline_idx = decision_result.occlusion_stopline_idx;
planning_utils::setVelocityFromIndex(stopline_idx, 0.0, path);
debug_data->occlusion_stop_wall_pose =
Expand Down Expand Up @@ -857,7 +855,7 @@
path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN);
}
}
if (!rtc_occlusion_approved && planner_param.occlusion.enable) {
if (!rtc_occlusion_approved) {
if (planner_param.occlusion.creep_during_peeking.enable) {
const size_t occlusion_peeking_stopline = decision_result.occlusion_stopline_idx;
const size_t closest_idx = decision_result.closest_idx;
Expand Down Expand Up @@ -895,7 +893,7 @@
"PeekingTowardOcclusion, approval = (default: %d, occlusion: %d)", rtc_default_approved,
rtc_occlusion_approved);
// NOTE: creep_velocity should be inserted first at closest_idx if !rtc_default_approved
if (!rtc_occlusion_approved && planner_param.occlusion.enable) {
if (!rtc_occlusion_approved) {
const size_t occlusion_peeking_stopline =
decision_result.temporal_stop_before_attention_required
? decision_result.first_attention_stopline_idx
Expand Down Expand Up @@ -965,7 +963,7 @@
path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN);
}
}
if (!rtc_occlusion_approved && planner_param.occlusion.enable) {
if (!rtc_occlusion_approved) {
const auto stopline_idx = decision_result.temporal_stop_before_attention_required
? decision_result.first_attention_stopline_idx
: decision_result.occlusion_stopline_idx;
Expand Down Expand Up @@ -1066,7 +1064,7 @@
path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN);
}
}
if (!rtc_occlusion_approved && planner_param.occlusion.enable) {
if (!rtc_occlusion_approved) {
const auto stopline_idx = decision_result.occlusion_stopline_idx;
planning_utils::setVelocityFromIndex(stopline_idx, 0.0, path);
debug_data->occlusion_stop_wall_pose =
Expand Down Expand Up @@ -1110,7 +1108,7 @@
path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN);
}
}
if (!rtc_occlusion_approved && planner_param.occlusion.enable) {
if (!rtc_occlusion_approved) {
const auto stopline_idx = decision_result.occlusion_stopline_idx;
planning_utils::setVelocityFromIndex(stopline_idx, 0.0, path);
debug_data->occlusion_stop_wall_pose =
Expand Down
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