fix(autoware_mpc_lateral_controller): delete the zero speed constraint #7673
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)
succeeded
Jun 25, 2024 in 36s
CodeScene PR Check
✅ Code Health Quality Gates: OK
- Improving Code Health: 3 findings(s) ✅
Details
✅ Improving Code Health:
- Overall Code Complexity mpc.cpp
- Excess Number of Function Arguments mpc.cpp: MPC::executeOptimization
- Complex Method mpc.cpp: MPC::calcSteerRateLimitOnTrajectory
Annotations
Check notice on line 764 in control/autoware_mpc_lateral_controller/src/mpc.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Complex Method
MPC::calcSteerRateLimitOnTrajectory is no longer above the threshold for cyclomatic complexity. 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 notice on line 1 in control/autoware_mpc_lateral_controller/src/mpc.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Overall Code Complexity
The mean cyclomatic complexity decreases from 4.84 to 4.79, 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 579 in control/autoware_mpc_lateral_controller/src/mpc.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Excess Number of Function Arguments
MPC::executeOptimization is no longer above the threshold for number of arguments. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
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