Delta analysis
Reviewed on Feb 19, 22:25
DefaultPlanner::check_goal_footprint_inside_lanes has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function
A Bumpy Road is a function that contains multiple chunks of nested conditional logic inside the same function. The deeper the nesting and the more bumps, the lower the code health.
A bumpy code road represents a lack of encapsulation which becomes an obstacle to comprehension. In imperative languages there’s also an increased risk for feature entanglement, which leads to complex state management. CodeScene considers the following rules for the code health impact: 1) The deeper the nested conditional logic of each bump, the higher the tax on our working memory. 2) The more bumps inside a function, the more expensive it is to refactor as each bump represents a missing abstraction. 3) The larger each bump – that is, the more lines of code it spans – the harder it is to build up a mental model of the function. The nesting depth for what is considered a bump is levels of conditionals.
Bumpy Road implementations indicate a lack of encapsulation. Check out the detailed description of the Bumpy Road code health issue.
A Bumpy Road often suggests that the function/method does too many things. The first refactoring step is to identify the different possible responsibilities of the function. Consider extracting those responsibilities into smaller, cohesive, and well-named functions. The EXTRACT FUNCTION refactoring is the primary response.
DefaultPlanner::check_goal_footprint_inside_lanes has 5 arguments, threshold = 4
Functions with many arguments indicate either a) low cohesion where the function has too many responsibilities, or b) a missing abstraction that encapsulates those arguments.
The threshold for the C++ language is 4 function arguments.
Start by investigating the responsibilities of the function. Make sure it doesn't do too many things, in which case it should be split into smaller and more cohesive functions. Consider the refactoring INTRODUCE PARAMETER OBJECT to encapsulate arguments that refer to the same logical concept.
This code health issue has been solved before in this project. Here are some examples for inspiration:
| @@ -13,5 +13,2 @@ |
| // limitations under the License. |
| // |
| // |
| // Author: v1.0 Yukihiro Saito, Taekjin Lee |
| @@ -69,7 +66,5 @@ double get2dIoU( |
| const auto source_polygon = autoware_utils::to_polygon2d( |
| source_object.kinematics.pose_with_covariance.pose, source_object.shape); |
| const auto source_polygon = autoware_utils::to_polygon2d(source_object.pose, source_object.shape); |
| if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0; |
| const auto target_polygon = autoware_utils::to_polygon2d( |
| target_object.kinematics.pose_with_covariance.pose, target_object.shape); |
| const auto target_polygon = autoware_utils::to_polygon2d(target_object.pose, target_object.shape); |
| if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0; |
| @@ -113,6 +108,4 @@ bool convertConvexHullToBoundingBox( |
| // calc new center |
| const Eigen::Vector2d center{ |
| input_object.kinematics.pose_with_covariance.pose.position.x, |
| input_object.kinematics.pose_with_covariance.pose.position.y}; |
| const auto yaw = tf2::getYaw(input_object.kinematics.pose_with_covariance.pose.orientation); |
| const Eigen::Vector2d center{input_object.pose.position.x, input_object.pose.position.y}; |
| const auto yaw = tf2::getYaw(input_object.pose.orientation); |
| const Eigen::Matrix2d R_inv = Eigen::Rotation2Dd(-yaw).toRotationMatrix(); |
| @@ -123,4 +116,4 @@ bool convertConvexHullToBoundingBox( |
| output_object = input_object; |
| output_object.kinematics.pose_with_covariance.pose.position.x = new_center.x(); |
| output_object.kinematics.pose_with_covariance.pose.position.y = new_center.y(); |
| output_object.pose.position.x = new_center.x(); |
| output_object.pose.position.y = new_center.y(); |
| @@ -137,3 +130,3 @@ bool getMeasurementYaw( |
| { |
| measurement_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); |
| measurement_yaw = tf2::getYaw(object.pose.orientation); |
| @@ -180,6 +173,11 @@ enum BBOX_IDX { |
| */ |
| int getNearestCornerOrSurface( |
| const double x, const double y, const double yaw, const double width, const double length, |
| const geometry_msgs::msg::Transform & self_transform) |
| void getNearestCornerOrSurface( |
| const geometry_msgs::msg::Transform & self_transform, types::DynamicObject & object) |
| { |
| const double x = object.pose.position.x; |
| const double y = object.pose.position.y; |
| const double yaw = tf2::getYaw(object.pose.orientation); |
| const double width = object.shape.dimensions.y; |
| const double length = object.shape.dimensions.x; |
| // get local vehicle pose |
| @@ -193,3 +191,3 @@ int getNearestCornerOrSurface( |
| // Determine Index |
| // Determine anchor point |
| // x+ (front) |
| @@ -200,104 +198,57 @@ int getNearestCornerOrSurface( |
| // x- (rear) |
| int xgrid = 0; |
| int ygrid = 0; |
| const int labels[3][3] = { |
| {BBOX_IDX::FRONT_L_CORNER, BBOX_IDX::FRONT_SURFACE, BBOX_IDX::FRONT_R_CORNER}, |
| {BBOX_IDX::LEFT_SURFACE, BBOX_IDX::INSIDE, BBOX_IDX::RIGHT_SURFACE}, |
| {BBOX_IDX::REAR_L_CORNER, BBOX_IDX::REAR_SURFACE, BBOX_IDX::REAR_R_CORNER}}; |
| double anchor_x = 0; |
| double anchor_y = 0; |
| if (xl > length / 2.0) { |
| xgrid = 0; // front |
| anchor_x = length / 2.0; |
| } else if (xl > -length / 2.0) { |
| xgrid = 1; // middle |
| anchor_x = 0; |
| } else { |
| xgrid = 2; // rear |
| anchor_x = -length / 2.0; |
| } |
| if (yl > width / 2.0) { |
| ygrid = 0; // left |
| anchor_y = width / 2.0; |
| } else if (yl > -width / 2.0) { |
| ygrid = 1; // middle |
| anchor_y = 0; |
| } else { |
| ygrid = 2; // right |
| anchor_y = -width / 2.0; |
| } |
| return labels[xgrid][ygrid]; // 0 to 7 + 1(null) value |
| } |
| /** |
| * @brief Calc bounding box center offset caused by shape change |
| * @param dw: width update [m] = w_new - w_old |
| * @param dl: length update [m] = l_new - l_old |
| * @param indx: nearest corner index |
| * @return 2d offset vector caused by shape change |
| */ |
| inline Eigen::Vector2d calcOffsetVectorFromShapeChange( |
| const double dw, const double dl, const int indx) |
| { |
| Eigen::Vector2d offset; |
| // if surface |
| if (indx == BBOX_IDX::FRONT_SURFACE) { |
| offset(0, 0) = dl / 2.0; // move forward |
| offset(1, 0) = 0; |
| } else if (indx == BBOX_IDX::RIGHT_SURFACE) { |
| offset(0, 0) = 0; |
| offset(1, 0) = -dw / 2.0; // move right |
| } else if (indx == BBOX_IDX::REAR_SURFACE) { |
| offset(0, 0) = -dl / 2.0; // move backward |
| offset(1, 0) = 0; |
| } else if (indx == BBOX_IDX::LEFT_SURFACE) { |
| offset(0, 0) = 0; |
| offset(1, 0) = dw / 2.0; // move left |
| } |
| // if corner |
| if (indx == BBOX_IDX::FRONT_R_CORNER) { |
| offset(0, 0) = dl / 2.0; // move forward |
| offset(1, 0) = -dw / 2.0; // move right |
| } else if (indx == BBOX_IDX::REAR_R_CORNER) { |
| offset(0, 0) = -dl / 2.0; // move backward |
| offset(1, 0) = -dw / 2.0; // move right |
| } else if (indx == BBOX_IDX::REAR_L_CORNER) { |
| offset(0, 0) = -dl / 2.0; // move backward |
| offset(1, 0) = dw / 2.0; // move left |
| } else if (indx == BBOX_IDX::FRONT_L_CORNER) { |
| offset(0, 0) = dl / 2.0; // move forward |
| offset(1, 0) = dw / 2.0; // move left |
| } |
| return offset; // do nothing if indx == INVALID or INSIDE |
| object.anchor_point.x = anchor_x; |
| object.anchor_point.y = anchor_y; |
| } |
| /** |
| * @brief Convert input object center to tracking point based on nearest corner information |
| * 1. update anchor offset vector, 2. offset input bbox based on tracking_offset vector and |
| * prediction yaw angle |
| * @param w: last input bounding box width |
| * @param l: last input bounding box length |
| * @param indx: last input bounding box closest corner index |
| * @param input_object: input object bounding box |
| * @param yaw: current yaw estimation |
| * @param offset_object: output tracking measurement to feed ekf |
| * @return nearest corner index(int) |
| */ |
| void calcAnchorPointOffset( |
| const double w, const double l, const int indx, const types::DynamicObject & input_object, |
| const double & yaw, types::DynamicObject & offset_object, Eigen::Vector2d & tracking_offset) |
| const types::DynamicObject & this_object, Eigen::Vector2d & tracking_offset, |
| types::DynamicObject & updating_object) |
| { |
| // copy value |
| offset_object = input_object; |
| // invalid index |
| if (indx == BBOX_IDX::INSIDE) { |
| return; // do nothing |
| const geometry_msgs::msg::Point anchor_vector = updating_object.anchor_point; |
| // invalid anchor |
| if (anchor_vector.x <= 1e-6 && anchor_vector.y <= 1e-6) { |
| return; |
| } |
| double input_yaw = tf2::getYaw(updating_object.pose.orientation); |
| // current object width and height |
| const double w_n = input_object.shape.dimensions.y; |
| const double l_n = input_object.shape.dimensions.x; |
| const double length = this_object.shape.dimensions.x; |
| const double width = this_object.shape.dimensions.y; |
| // update offset |
| const Eigen::Vector2d offset = calcOffsetVectorFromShapeChange(w_n - w, l_n - l, indx); |
| tracking_offset = offset; |
| tracking_offset = Eigen::Vector2d(anchor_vector.x, anchor_vector.y); |
| if (tracking_offset.x() > 0) { |
| tracking_offset.x() -= length / 2.0; |
| } else if (tracking_offset.x() < 0) { |
| tracking_offset.x() += length / 2.0; |
| } |
| if (tracking_offset.y() > 0) { |
| tracking_offset.y() -= width / 2.0; |
| } else if (tracking_offset.y() < 0) { |
| tracking_offset.y() += width / 2.0; |
| } |
| // offset input object |
| const Eigen::Matrix2d R = Eigen::Rotation2Dd(yaw).toRotationMatrix(); |
| const Eigen::Matrix2d R = Eigen::Rotation2Dd(input_yaw).toRotationMatrix(); |
| const Eigen::Vector2d rotated_offset = R * tracking_offset; |
| offset_object.kinematics.pose_with_covariance.pose.position.x += rotated_offset.x(); |
| offset_object.kinematics.pose_with_covariance.pose.position.y += rotated_offset.y(); |
| updating_object.pose.position.x += rotated_offset.x(); |
| updating_object.pose.position.y += rotated_offset.y(); |
| } |
DefaultPlanner::check_goal_footprint is no longer above the threshold for logical blocks with deeply nested code
DefaultPlanner::check_goal_footprint is no longer above the threshold for number of arguments
set_color is no longer above the threshold for number of arguments