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fix(bpp): update collided polygon pose only once
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Signed-off-by: Zulfaqar Azmi <[email protected]>
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@zulfaqar-azmi-t4
zulfaqar-azmi-t4 committed Nov 15, 2024
1 parent 8028e38 commit a944645
Showing 1 changed file with 15 additions and 12 deletions.
27 changes: 15 additions & 12 deletions ...nner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -622,13 +622,15 @@ std::vector<Polygon2d> get_collided_polygons(

// check intersects
if (boost::geometry::intersects(ego_polygon, obj_polygon)) {
debug.unsafe_reason = "overlap_polygon";
if (collided_polygons.empty()) {
debug.unsafe_reason = "overlap_polygon";
debug.expected_ego_pose = ego_pose;
debug.expected_obj_pose = obj_pose;
debug.extended_ego_polygon = ego_polygon;
debug.extended_obj_polygon = obj_polygon;
}
collided_polygons.push_back(obj_polygon);

debug.expected_ego_pose = ego_pose;
debug.expected_obj_pose = obj_pose;
debug.extended_ego_polygon = ego_polygon;
debug.extended_obj_polygon = obj_polygon;
continue;
}

Expand Down Expand Up @@ -676,14 +678,15 @@ std::vector<Polygon2d> get_collided_polygons(

// check intersects with extended polygon
if (boost::geometry::intersects(extended_ego_polygon, extended_obj_polygon)) {
debug.unsafe_reason = "overlap_extended_polygon";
if (collided_polygons.empty()) {
debug.unsafe_reason = "overlap_extended_polygon";
debug.rss_longitudinal = rss_dist;
debug.inter_vehicle_distance = min_lon_length;
debug.extended_ego_polygon = extended_ego_polygon;
debug.extended_obj_polygon = extended_obj_polygon;
debug.is_front = is_object_front;
}
collided_polygons.push_back(obj_polygon);

Check warning on line 689 in planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

get_collided_polygons increases in cyclomatic complexity from 15 to 17, 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 689 in planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Bumpy Road Ahead 

get_collided_polygons has 3 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.

debug.rss_longitudinal = rss_dist;
debug.inter_vehicle_distance = min_lon_length;
debug.extended_ego_polygon = extended_ego_polygon;
debug.extended_obj_polygon = extended_obj_polygon;
debug.is_front = is_object_front;
}
}

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