feat(map based prediction, crosswalk)!: transplantation of pedestrians' behavior prediction against green signal #6338
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 3 findings(s) 🚩
- Improving Code Health: 1 findings(s) ✅
- Affected Hotspots: 1 files(s) 🔥
Recommended Review Level: Detailed -- Inspect the code that degrades in code health.
View detailed results in CodeScene
Details
🚩 Declining Code Health (highest to lowest):
- Large Method map_based_prediction_node.cpp: MapBasedPredictionNode::MapBasedPredictionNode 🔥
- Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::removeOldObjectsHistory 🔥
- Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::calcIntentionToCrossWithTrafficSgnal 🔥
✅ Improving Code Health:
- Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::getPredictedObjectAsCrosswalkUser 🔥
Annotations
Check notice on line 1 in perception/map_based_prediction/src/map_based_prediction_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Lines of Code in a Single File
The lines of code increases from 1693 to 1763, 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 warning on line 797 in perception/map_based_prediction/src/map_based_prediction_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
MapBasedPredictionNode::MapBasedPredictionNode increases from 78 to 84 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
Check notice on line 1 in perception/map_based_prediction/src/map_based_prediction_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 6.30 to 6.40, 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.
Check notice on line 1390 in perception/map_based_prediction/src/map_based_prediction_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Bumpy Road Ahead
MapBasedPredictionNode::removeOldObjectsHistory increases from 2 to 3 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.
Check notice on line 2349 in perception/map_based_prediction/src/map_based_prediction_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ New issue: Bumpy Road Ahead
MapBasedPredictionNode::calcIntentionToCrossWithTrafficSgnal 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.
Check notice on line 1244 in perception/map_based_prediction/src/map_based_prediction_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Complex Method
MapBasedPredictionNode::getPredictedObjectAsCrosswalkUser decreases in cyclomatic complexity from 26 to 25, 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.
Check warning on line 1390 in perception/map_based_prediction/src/map_based_prediction_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
MapBasedPredictionNode::removeOldObjectsHistory increases in cyclomatic complexity from 11 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.
Check warning on line 2349 in perception/map_based_prediction/src/map_based_prediction_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
MapBasedPredictionNode::calcIntentionToCrossWithTrafficSgnal has a cyclomatic complexity of 11, 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.