toPolygon2d 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.

toPolygon2d has 2 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.

intersect has 1 complex conditionals with 3 branches, threshold = 2. 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.

calcOffsetPose has 5 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

This module has 8198 lines of data declarations, threshold = 1500. This file contains many data declarations, leading to a long file.

createDefaultMarker has 7 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

The test suite contains 7 assertion blocks with at least 4 assertions, threshold = 4. This test file has several blocks of large, consecutive assert statements. Avoid adding more.

This module has 1491 lines of code, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.

The module contains 10 functions with similar structure: TEST:geometry:calcAzimuthAngle,TEST:geometry:calcElevationAngle,TEST:geometry:calcInterpolatedPose,TEST:geometry:calcInterpolatedPose_with_Spherical_Interpolation and 6 more functions. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.

TEST:geometry:calcInterpolatedPose has 145 lines, 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.

TEST:geometry:calcInterpolatedPose_with_Spherical_Interpolation has 117 lines, 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.

TEST:geometry:intersect has 86 lines, 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.

TEST:geometry:getPose has 83 lines, 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.

TEST:geometry:getPoint has 80 lines, 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.

TEST:geometry:calcOffsetPose has 73 lines, 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.

TEST:geometry:transformPoint has 72 lines, 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.

The test suite contains 49 assertion blocks with at least 4 assertions, threshold = 4. This test file has several blocks of large, consecutive assert statements. Avoid adding more.

The test suite contains 3 functions with duplicated assertion blocks (TEST:geometry:calcInterpolatedPose,TEST:geometry:calcInterpolatedPose_with_Spherical_Interpolation,TEST:geometry:calcOffsetPose), threshold = 2. This test file has several blocks of duplicated assertion statements. Avoid adding more.

The module contains 5 functions with similar structure: TEST:arange_Test:arange_double,TEST:arange_Test:arange_float,TEST:test_linspace:linspace_double,TEST:test_linspace:linspace_float and 1 more functions. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.

The module contains 6 functions with similar structure: TEST:PublishedTimePublisherWithSubscriptionTest:MultiplePublishMsgWithHeader,TEST:PublishedTimePublisherWithSubscriptionTest:MultiplePublishMsgWithTimestamp,TEST:PublishedTimePublisherWithSubscriptionTest:PublishMsgWithHeader,TEST:PublishedTimePublisherWithSubscriptionTest:PublishMsgWithTimestamp and 2 more functions. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.

The test suite contains 3 functions with duplicated assertion blocks (TEST:PublishedTimePublisherWithSubscriptionTest:MultiplePublishMsgWithHeader,TEST:PublishedTimePublisherWithSubscriptionTest:MultiplePublishMsgWithTimestamp,TEST:PublishedTimePublisherWithSubscriptionTest:PublishMsgWithTimestamp), threshold = 2. This test file has several blocks of duplicated assertion statements. Avoid adding more.