feat(autoware_planning_evaluator): new obstacle metrics #11761
CodeScene PR Check
Quality Gate Failed
(1 files improve in Code Health)
Gates Failed
(1 new file with code health below 9.00)
(2 files with Bumpy Road Ahead, Deep, Nested Complexity)
(3 files with Complex Method, Overall Code Complexity)
Gates Passed
See analysis details in CodeScene
Reason for failure
| New code is healthy | Violations | Code Health Impact | |
|---|---|---|---|
| obstacle_metrics_calculator.cpp | 4 rules | 6.68 | Suppress |
| Enforce critical code health rules | Violations | Code Health Impact | |
|---|---|---|---|
| obstacle_metrics_calculator.cpp | 2 critical rules | 6.68 | Suppress |
| planning_evaluator_node.cpp | 1 critical rule | 7.94 → 7.52 | Suppress |
| Enforce advisory code health rules | Violations | Code Health Impact | |
|---|---|---|---|
| obstacle_metrics_calculator.cpp | 2 advisory rules | 6.68 | Suppress |
| planning_evaluator_node.cpp | 1 advisory rule | 7.94 → 7.52 | Suppress |
| metrics_utils.cpp | 1 advisory rule | 9.69 → 9.39 | Suppress |
View Improvements
| File | Code Health Impact | Categories Improved |
|---|---|---|
| metrics_calculator.cpp | 9.45 → 9.50 | Complex Method |
Quality Gate Profile: Clean Code Collective
Want more control? Customize Code Health rules or catch issues early with our IDE extension and CLI tool.
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method obstacle_metrics_calculator.cpp: ObstacleMetricsCalculator::ProcessObstaclesTrajectory
- Overall Code Complexity obstacle_metrics_calculator.cpp
- Deep, Nested Complexity obstacle_metrics_calculator.cpp: ObstacleMetricsCalculator::ProcessObstaclesTrajectory
- Bumpy Road Ahead obstacle_metrics_calculator.cpp: ObstacleMetricsCalculator::ProcessObstaclesTrajectory
- Complex Method obstacle_metrics_calculator.cpp: ObstacleMetricsCalculator::PreprocessEgoTrajectory
- Complex Method obstacle_metrics_calculator.cpp: ObstacleMetricsCalculator::CollectWorstMetrics
- Complex Method planning_evaluator_node.cpp: PlanningEvaluatorNode::onTrajectory
- Complex Method metrics_utils.cpp: polygon_intersects
- Bumpy Road Ahead obstacle_metrics_calculator.cpp: ObstacleMetricsCalculator::PreprocessEgoTrajectory
- Bumpy Road Ahead planning_evaluator_node.cpp: PlanningEvaluatorNode::onTrajectory
- Bumpy Road Ahead obstacle_metrics_calculator.cpp: ObstacleMetricsCalculator::CollectWorstMetrics
✅ Improving Code Health:
- Complex Method metrics_calculator.cpp: MetricsCalculator::calculate
Annotations
Check warning on line 149 in evaluator/autoware_planning_evaluator/src/metrics/metrics_utils.cpp
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ New issue: Complex Method
polygon_intersects has a cyclomatic complexity of 9, 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 notice on line 74 in evaluator/autoware_planning_evaluator/src/metrics_calculator.cpp
codescene-delta-analysis / CodeScene Code Health Review (main)
✅ Getting better: Complex Method
MetricsCalculator::calculate decreases in cyclomatic complexity from 20 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ New issue: Complex Method
ObstacleMetricsCalculator::ProcessObstaclesTrajectory has a cyclomatic complexity of 38, 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ New issue: Complex Method
ObstacleMetricsCalculator::PreprocessEgoTrajectory has a cyclomatic complexity of 15, 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ New issue: Complex Method
ObstacleMetricsCalculator::CollectWorstMetrics has a cyclomatic complexity of 14, 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ New issue: Bumpy Road Ahead
ObstacleMetricsCalculator::ProcessObstaclesTrajectory has 9 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is 2 blocks 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ New issue: Bumpy Road Ahead
ObstacleMetricsCalculator::PreprocessEgoTrajectory has 4 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is 2 blocks 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ New issue: Bumpy Road Ahead
ObstacleMetricsCalculator::CollectWorstMetrics has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is 2 blocks 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 warning on line 1 in evaluator/autoware_planning_evaluator/src/obstacle_metrics_calculator.cpp
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ New issue: Overall Code Complexity
This module has a mean cyclomatic complexity of 7.17 across 12 functions. The mean complexity threshold is 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ New issue: Deep, Nested Complexity
ObstacleMetricsCalculator::ProcessObstaclesTrajectory has a nested complexity depth of 6, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.
Check warning on line 434 in evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ New issue: Complex Method
PlanningEvaluatorNode::onTrajectory has a cyclomatic complexity of 14, 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 434 in evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ New issue: Bumpy Road Ahead
PlanningEvaluatorNode::onTrajectory has 3 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is 2 blocks 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.