feat(aw_pose_covariance_modifier_node): add aw_pose_covariance_modifier for using NDT and GNSS together #6477
+389
−6
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)
failed
Mar 5, 2024 in 49s
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 2 findings(s) 🚩
- Improving Code Health: 0 findings(s) ✅
- Affected Hotspots: 0 files(s) 🔥
Recommended Review Level: Detailed -- Inspect the code that degrades in code health.
View detailed results in CodeScene
Details
🚩 Declining Code Health (highest to lowest):
- Large Method ndt_scan_matcher_core.cpp: NDTScanMatcher::NDTScanMatcher
- Complex Method ndt_scan_matcher_core.cpp: NDTScanMatcher::callback_sensor_points
Annotations
Check warning on line 471 in localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
NDTScanMatcher::callback_sensor_points increases in cyclomatic complexity from 16 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 183 in localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
NDTScanMatcher::NDTScanMatcher increases from 106 to 111 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.
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