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Signed-off-by: yuki-takagi-66 <[email protected]>
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yuki-takagi-66 committed Jan 20, 2025
1 parent 225121a commit 7c9c094
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Showing 2 changed files with 43 additions and 21 deletions.
38 changes: 20 additions & 18 deletions ...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -336,13 +336,13 @@ std::optional<StopFactor> CrosswalkModule::checkStopForCrosswalkUsers(

// Check pedestrian for stop
// NOTE: first stop point and its minimum distance from ego to stop
auto isVehicleType = [](const uint8_t label) {
return label == ObjectClassification::MOTORCYCLE || label == ObjectClassification::BICYCLE;
};
// auto isVehicleType = [](const uint8_t label) {
// return label == ObjectClassification::MOTORCYCLE || label == ObjectClassification::BICYCLE;
// };
std::optional<double> dist_nearest_cp;
std::vector<geometry_msgs::msg::Point> stop_factor_points;
const std::optional<double> ego_crosswalk_passage_direction =
findEgoPassageDirectionAlongPath(sparse_resample_path);
// const std::optional<double> ego_crosswalk_passage_direction =
// findEgoPassageDirectionAlongPath(sparse_resample_path);
for (const auto & object : object_info_manager_.getObject()) {
const auto & collision_point_opt = object.collision_point;
if (collision_point_opt) {
Expand All @@ -352,18 +352,18 @@ std::optional<StopFactor> CrosswalkModule::checkStopForCrosswalkUsers(
continue;
}

if (
isVehicleType(object.classification) && ego_crosswalk_passage_direction &&
collision_point.crosswalk_passage_direction) {
double direction_diff = std::abs(std::fmod(
collision_point.crosswalk_passage_direction.value() -
ego_crosswalk_passage_direction.value(),
M_PI_2));
direction_diff = std::min(direction_diff, M_PI_2 - direction_diff);
if (direction_diff < planner_param_.vehicle_object_cross_angle_threshold) {
continue;
}
}
// if (
// isVehicleType(object.classification) && ego_crosswalk_passage_direction &&

Check notice on line 356 in planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Complex Conditional 

CrosswalkModule::checkStopForCrosswalkUsers no longer has a complex conditional. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
// collision_point.crosswalk_passage_direction) {
// double direction_diff = std::abs(std::fmod(
// collision_point.crosswalk_passage_direction.value() -
// ego_crosswalk_passage_direction.value(),
// M_PI_2));
// direction_diff = std::min(direction_diff, M_PI_2 - direction_diff);
// if (direction_diff < planner_param_.vehicle_object_cross_angle_threshold) {
// continue;
// }
// }

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✅ Getting better: Complex Method 

CrosswalkModule::checkStopForCrosswalkUsers decreases in cyclomatic complexity from 16 to 10, 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.

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✅ No longer an issue: Bumpy Road Ahead 

CrosswalkModule::checkStopForCrosswalkUsers is no longer above the threshold for logical blocks with deeply nested code. 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.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Deep, Nested Complexity 

CrosswalkModule::checkStopForCrosswalkUsers is no longer above the threshold for nested complexity depth. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.

stop_factor_points.push_back(object.position);

Expand Down Expand Up @@ -1166,10 +1166,12 @@ void CrosswalkModule::updateObjectState(

const auto collision_point =
getCollisionPoint(sparse_resample_path, object, crosswalk_attention_range, attention_area);
const std::optional<double> ego_crosswalk_passage_direction =
findEgoPassageDirectionAlongPath(sparse_resample_path);
object_info_manager_.update(
obj_uuid, obj_pos, std::hypot(obj_vel.x, obj_vel.y), clock_->now(), is_ego_yielding,
has_traffic_light, collision_point, object.classification.front().label, planner_param_,
crosswalk_.polygon2d().basicPolygon(), attention_area);
crosswalk_.polygon2d().basicPolygon(), attention_area, ego_crosswalk_passage_direction);

const auto collision_state = object_info_manager_.getCollisionState(obj_uuid);
if (collision_point) {
Expand Down
26 changes: 23 additions & 3 deletions ...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -194,7 +194,8 @@ class CrosswalkModule : public SceneModuleInterfaceWithRTC
const rclcpp::Time & now, const geometry_msgs::msg::Point & position, const double vel,
const bool is_ego_yielding, const std::optional<CollisionPoint> & collision_point,
const PlannerParam & planner_param, const lanelet::BasicPolygon2d & crosswalk_polygon,
const bool is_object_away_from_path)
const bool is_object_away_from_path,
const std::optional<double> & ego_crosswalk_passage_direction)
{
const bool is_stopped = vel < planner_param.stop_object_velocity;

Expand Down Expand Up @@ -224,6 +225,24 @@ class CrosswalkModule : public SceneModuleInterfaceWithRTC

// Compare time to collision and vehicle
if (collision_point) {
auto isVehicleType = [](const uint8_t label) {
return label == ObjectClassification::MOTORCYCLE ||
label == ObjectClassification::BICYCLE;
};
if (
isVehicleType(classification) && ego_crosswalk_passage_direction &&
collision_point->crosswalk_passage_direction) {
double direction_diff = std::abs(std::fmod(
collision_point->crosswalk_passage_direction.value() -
ego_crosswalk_passage_direction.value(),
M_PI_2));
direction_diff = std::min(direction_diff, M_PI_2 - direction_diff);
if (direction_diff < planner_param.vehicle_object_cross_angle_threshold) {
collision_state = CollisionState::IGNORE;
return;
}
}

// Check if ego will pass first
const double ego_pass_first_additional_margin =
collision_state == CollisionState::EGO_PASS_FIRST
Expand Down Expand Up @@ -268,7 +287,8 @@ class CrosswalkModule : public SceneModuleInterfaceWithRTC
const rclcpp::Time & now, const bool is_ego_yielding, const bool has_traffic_light,
const std::optional<CollisionPoint> & collision_point, const uint8_t classification,
const PlannerParam & planner_param, const lanelet::BasicPolygon2d & crosswalk_polygon,
const Polygon2d & attention_area)
const Polygon2d & attention_area,
const std::optional<double> & ego_crosswalk_passage_direction)
{
// update current uuids
current_uuids_.push_back(uuid);
Expand All @@ -292,7 +312,7 @@ class CrosswalkModule : public SceneModuleInterfaceWithRTC
// update object state
objects.at(uuid).transitState(
now, position, vel, is_ego_yielding, collision_point, planner_param, crosswalk_polygon,
is_object_away_from_path);
is_object_away_from_path, ego_crosswalk_passage_direction);
objects.at(uuid).collision_point = collision_point;
objects.at(uuid).position = position;
objects.at(uuid).classification = classification;
Expand Down

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