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fix(avoidance): fix margin param inconsistency #6765

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Apr 9, 2024
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fix(avoidance): fix margin param inconsistency #6765

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15 changes: 12 additions & 3 deletions planning/behavior_path_avoidance_module/src/scene.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 1196 to 1205, 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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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 5.17 to 5.24, 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 @@ -642,7 +642,10 @@
const auto constant_distance = helper_->getFrontConstantDistance(o_front);
const auto & vehicle_width = planner_data_->parameters.vehicle_width;

const auto max_avoid_margin = object_parameter.lateral_hard_margin * o_front.distance_factor +
const auto lateral_hard_margin = o_front.is_parked
? object_parameter.lateral_hard_margin_for_parked_vehicle
: object_parameter.lateral_hard_margin;
const auto max_avoid_margin = lateral_hard_margin * o_front.distance_factor +
object_parameter.lateral_soft_margin + 0.5 * vehicle_width;

const auto avoidance_distance = helper_->getSharpAvoidanceDistance(
Expand Down Expand Up @@ -1431,7 +1434,10 @@
const auto object_type = utils::getHighestProbLabel(object.object.classification);
const auto object_parameter = parameters_->object_parameters.at(object_type);

const auto avoid_margin = object_parameter.lateral_hard_margin * object.distance_factor +
const auto lateral_hard_margin = object.is_parked
? object_parameter.lateral_hard_margin_for_parked_vehicle
: object_parameter.lateral_hard_margin;
const auto avoid_margin = lateral_hard_margin * object.distance_factor +
object_parameter.lateral_soft_margin + 0.5 * vehicle_width;
const auto avoidance_distance = helper_->getMinAvoidanceDistance(
helper_->getShiftLength(object, utils::avoidance::isOnRight(object), avoid_margin));
Expand Down Expand Up @@ -1675,7 +1681,10 @@
const auto & vehicle_width = planner_data_->parameters.vehicle_width;
const auto object_type = utils::getHighestProbLabel(object.value().object.classification);
const auto object_parameter = parameters_->object_parameters.at(object_type);
const auto avoid_margin = object_parameter.lateral_hard_margin * object.value().distance_factor +
const auto lateral_hard_margin = object.value().is_parked
? object_parameter.lateral_hard_margin_for_parked_vehicle
: object_parameter.lateral_hard_margin;
const auto avoid_margin = lateral_hard_margin * object.value().distance_factor +

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❌ Getting worse: Complex Method 

AvoidanceModule::insertPrepareVelocity increases in cyclomatic complexity from 17 to 18, 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.
object_parameter.lateral_soft_margin + 0.5 * vehicle_width;
const auto shift_length = helper_->getShiftLength(
object.value(), utils::avoidance::isOnRight(object.value()), avoid_margin);
Expand Down
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