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fix(radar_object_tracker): fix duplicateBranch warning #7697

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merged 2 commits into from
Jun 26, 2024
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fix(radar_object_tracker): fix duplicateBranch warning #7697

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fix(radar_object_tracker): fix duplicateBranch warning
veqcc Jun 26, 2024
e67ad57
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veqcc Jun 26, 2024
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18 changes: 2 additions & 16 deletions perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.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 perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 5.38 to 5.25, 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 @@ -137,22 +137,8 @@
} else {
P_v_xy = R * P_v_xy_local * R.transpose();
}
// acceleration covariance often written in object frame
const bool has_acceleration_covariance =
false; // currently message does not have acceleration covariance
if (has_acceleration_covariance) {
// const auto ax_cov =
// object.kinematics.acceleration_with_covariance.covariance[utils::MSG_COV_IDX::X_X]; // This
// is future update
// const auto ay_cov =
// object.kinematics.acceleration_with_covariance.covariance[utils::MSG_COV_IDX::Y_Y]; // This
// is future update
// Eigen::Matrix2d P_a_xy_local;
// P_a_xy_local << ax_cov, 0.0, 0.0, ay_cov;
P_a_xy = R * P_a_xy_local * R.transpose();
} else {
P_a_xy = R * P_a_xy_local * R.transpose();
}

P_a_xy = R * P_a_xy_local * R.transpose();

Check notice on line 141 in perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Large Method 

LinearMotionTracker::LinearMotionTracker decreases from 76 to 70 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 warning on line 141 in perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp

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Codecov / codecov/patch

perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp#L141 

Added line #L141 was not covered by tests

// put value in P matrix
// use block description. This assume x,y,vx,vy,ax,ay in this order
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