🚩 Declining Code Health (highest to lowest):

• Complex Conditional mpc.cpp: MPC::isValid
• Code Duplication scene_intersection.cpp
• Large Method manager.cpp: GoalPlannerModuleManager::updateModuleParams 🔥
• Large Method manager.cpp: StartPlannerModuleManager::updateModuleParams
• Large Method manager.cpp: GoalPlannerModuleManager::init 🔥
• Complex Conditional mpc_lateral_controller.cpp: MpcLateralController::isValidTrajectory
• Large Method manager.cpp: StartPlannerModuleManager::init
• Complex Method scene.cpp: NormalLaneChange::getLaneChangePaths 🔥
• Complex Conditional longitudinal_controller_utils.cpp: isValidTrajectory
• Complex Conditional scene_intersection.cpp: IntersectionModule::isOverPassJudgeLinesStatus
• Complex Method shift_line_generator.cpp: ShiftLineGenerator::generateAvoidOutline
• Complex Conditional goal_planner_module.cpp: GoalPlannerModule::onFreespaceParkingTimer 🔥
• Code Duplication object_polygon_detail.cpp
• Duplicated Assertion Blocks test_mpc.cpp: TEST:MPCTest:MultiSolveWithBuffer
• Large Assertion Blocks test_longitudinal_controller_utils.cpp: TEST:TestLongitudinalControllerUtils:lerpTrajectoryPoint
• Complex Conditional utils.cpp: isNeverAvoidanceTarget
• Brain Method scene_crosswalk.cpp: CrosswalkModule::checkStopForCrosswalkUsers 🔥
• Complex Conditional scene.cpp: DynamicAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObjects
• Complex Method manager.cpp: AvoidanceModuleManager::updateModuleParams
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::objectsCallback 🔥
• Complex Conditional map_based_prediction_node.cpp: MapBasedPredictionNode::predictObjectManeuverByTimeToLaneChange 🔥
• Complex Method pid_longitudinal_controller.cpp: PidLongitudinalController::updateControlState
• Complex Method mpt_optimizer.cpp: MPTOptimizer::keepMinimumBoundsWidth
• Complex Method manager.cpp: LaneChangeModuleManager::initParams
• Complex Method scene_intersection.cpp: IntersectionModule::modifyPathVelocityDetail
• Complex Method goal_planner_module.cpp: GoalPlannerModule::onTimer 🔥
• Complex Conditional goal_planner_module.cpp: GoalPlannerModule::onTimer 🔥
• Complex Method debug.cpp: IntersectionModule::createDebugMarkerArray
• Complex Conditional map_based_prediction_node.cpp: isReachableCrosswalkEdgePoints 🔥
• Complex Conditional mpc_trajectory.cpp: MPCTrajectory::size
• Code Duplication map_based_prediction_node.cpp 🔥
• Complex Conditional manager.cpp: LaneChangeModuleManager::initParams
• Code Duplication utils.cpp
• Complex Method predicted_objects_display.cpp: PredictedObjectsDisplay::createMarkers
• Complex Method shift_line_generator.cpp: ShiftLineGenerator::addReturnShiftLine
• Complex Method mission_planner.cpp: MissionPlanner::check_reroute_safety
• Complex Method planner_interface.cpp: PlannerInterface::generateSlowDownTrajectory
• Bumpy Road Ahead mpt_optimizer.cpp: MPTOptimizer::keepMinimumBoundsWidth
• Complex Method planner_manager.cpp: PlannerManager::getRequestModules 🔥
• Complex Method turn_signal_decider.cpp: TurnSignalDecider::getIntersectionTurnSignalInfo
• Complex Method utils.cpp: generateDrivableLanes 🔥
• Large Method test_msg_predicted_objects.cpp: TEST:AutowareAutoMsgsAdapter:TestPredictedObjects
• Complex Conditional joy_controller_node.cpp: AutowareJoyControllerNode::onJoy
• Complex Conditional object_filtering.cpp: filter_predicted_objects
• Large Method pid_longitudinal_controller.cpp: diagnostic_updater_
• Complex Method scene.cpp: DynamicAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObjects
• Complex Conditional utils.cpp: generateDrivableLanes 🔥
• Complex Method tracked_objects_display.cpp: TrackedObjectsDisplay::processMessage
• Complex Method goal_planner_module.cpp: GoalPlannerModule::setDebugData 🔥
• Complex Method geometric_parallel_parking.cpp: GeometricParallelParking::planOneTrial
• Large Method manager.cpp: AvoidanceByLaneChangeModuleManager::init
• Complex Method node.cpp: ObstacleCruisePlannerNode::createSlowDownObstacle
• Complex Method static_drivable_area.cpp: postProcess
• Complex Method turn_signal_decider.cpp: TurnSignalDecider::getBehaviorTurnSignalInfo
• Complex Method scene.cpp: BlindSpotModule::generateBlindSpotPolygons
• Large Method manager.cpp: DynamicAvoidanceModuleManager::updateModuleParams
• Complex Method utils.cpp: generateExpandedDrivableLanes
• Complex Method utils.cpp: isNeverAvoidanceTarget
• Bumpy Road Ahead map_based_prediction_node.cpp: MapBasedPredictionNode::objectsCallback 🔥
• Complex Method shift_pull_over.cpp: ShiftPullOver::generatePullOverPath
• Complex Method shift_pull_out.cpp: ShiftPullOut::calcPullOutPaths
• Complex Method debug.cpp: createDebugMarkerArray
• Complex Method static_drivable_area.cpp: generatePolygonInsideBounds
• Complex Method scene.cpp: NormalLaneChange::insertStopPoint 🔥
• Complex Method analytical_jerk_constrained_smoother.cpp: AnalyticalJerkConstrainedSmoother::applyLateralAccelerationFilter
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::getPredictedObjectAsCrosswalkUser 🔥
• Complex Method map_based_prediction_node.cpp: isReachableCrosswalkEdgePoints 🔥
• Complex Method planner_manager.cpp: PlannerManager::runRequestModules 🔥
• Code Duplication test_convex_hull.cpp
• Large Assertion Blocks test_interval.cpp
• Overall Code Complexity node.cpp
• Overall Code Complexity joy_controller_node.cpp
• Overall Code Complexity mpc.cpp
• Code Duplication test_mpc.cpp
• Bumpy Road Ahead pid_longitudinal_controller.cpp: PidLongitudinalController::updateControlState
• Overall Code Complexity pid_longitudinal_controller.cpp
• Overall Code Complexity node.cpp
• Lines of Code in a Single File map_based_prediction_node.cpp 🔥
• Overall Code Complexity map_based_prediction_node.cpp 🔥
• Code Duplication debug.cpp
• Overall Code Complexity debug.cpp
• Lines of Code in a Single File scene.cpp
• Complex Conditional scene.cpp: AvoidanceModule::addNewShiftLines
• Overall Code Complexity scene.cpp
• Overall Code Complexity shift_line_generator.cpp
• Lines of Code in a Single File utils.cpp
• Overall Code Complexity utils.cpp
• Lines of Code in a Single File scene.cpp
• Overall Code Complexity scene.cpp
• Deep, Nested Complexity scene.cpp: DynamicAvoidanceModule::calcCollisionSection
• Lines of Code in a Single File goal_planner_module.cpp 🔥
• Overall Code Complexity goal_planner_module.cpp 🔥
• Deep, Nested Complexity goal_planner_module.cpp: GoalPlannerModule::onTimer 🔥
• Overall Code Complexity goal_searcher.cpp
• Deep, Nested Complexity goal_searcher.cpp: GoalSearcher::countObjectsToAvoid
• Lines of Code in a Single File scene.cpp 🔥
• Overall Code Complexity scene.cpp 🔥
• Deep, Nested Complexity scene.cpp: NormalLaneChange::getLaneChangePaths 🔥
• Overall Code Complexity utils.cpp 🔥
• Deep, Nested Complexity utils.cpp: generateDrivableLanes 🔥
• Overall Code Complexity planner_manager.cpp 🔥
• Deep, Nested Complexity planner_manager.cpp: PlannerManager::getRequestModules 🔥
• Overall Code Complexity turn_signal_decider.cpp
• Overall Code Complexity drivable_area_expansion.cpp
• Deep, Nested Complexity drivable_area_expansion.cpp: reuse_previous_poses
• Deep, Nested Complexity map_utils.cpp: extract_uncrossable_segments
• Lines of Code in a Single File static_drivable_area.cpp
• Overall Code Complexity static_drivable_area.cpp
• Overall Code Complexity geometric_parallel_parking.cpp
• Deep, Nested Complexity safety_check.cpp: checkSafetyWithIntegralPredictedPolygon
• Overall Code Complexity path_utils.cpp
• Lines of Code in a Single File utils.cpp
• Overall Code Complexity utils.cpp
• Lines of Code in a Single File start_planner_module.cpp
• Code Duplication scene.cpp
• Bumpy Road Ahead scene.cpp: BlindSpotModule::generateBlindSpotPolygons
• Overall Code Complexity scene.cpp
• Deep, Nested Complexity scene.cpp: BlindSpotModule::cutPredictPathWithDuration
• Overall Code Complexity scene_crosswalk.cpp 🔥
• Deep, Nested Complexity collision.cpp: find_closest_collision_point
• Code Duplication debug.cpp
• Code Duplication manager.cpp
• Overall Code Complexity manager.cpp
• Deep, Nested Complexity manager.cpp: MergeFromPrivateModuleManager::launchNewModules
• Lines of Code in a Single File scene_intersection.cpp
• Overall Code Complexity scene_intersection.cpp
• Overall Code Complexity util.cpp
• Complex Conditional scene_no_stopping_area.cpp: NoStoppingAreaModule::isTargetStuckVehicleType
• Overall Code Complexity scene_no_stopping_area.cpp
• Overall Code Complexity grid_utils.cpp
• Complex Conditional occlusion_spot_utils.cpp: generatePossibleCollisionsFromObjects
• Overall Code Complexity occlusion_spot_utils.cpp
• Deep, Nested Complexity occlusion_spot_utils.cpp: calcSlowDownPointsForPossibleCollision
• Overall Code Complexity scene.cpp
• Deep, Nested Complexity scene.cpp: RunOutModule::checkCollisionWithShape
• Deep, Nested Complexity manager.cpp: TrafficLightModuleManager::isModuleRegisteredFromExistingAssociatedModule
• Overall Code Complexity scene.cpp
• Deep, Nested Complexity scene.cpp: createTargetPoint
• Deep, Nested Complexity rrtstar_core.cpp: RRTStar::deleteNodeUsingBranchAndBound
• Complex Conditional mission_planner.cpp: MissionPlanner::check_reroute_safety
• Bumpy Road Ahead mission_planner.cpp: MissionPlanner::check_reroute_safety
• Overall Code Complexity mission_planner.cpp
• Overall Code Complexity motion_velocity_smoother_node.cpp
• Brain Method resample.cpp: resampleTrajectory
• Brain Method resample.cpp: resampleTrajectory
• Overall Code Complexity analytical_jerk_constrained_smoother.cpp
• Lines of Code in a Single File mpt_optimizer.cpp
• Overall Code Complexity mpt_optimizer.cpp
• Lines of Code in a Single File node.cpp
• Overall Code Complexity node.cpp
• Overall Code Complexity planner_interface.cpp
• Deep, Nested Complexity elastic_band.cpp: makePMatrix
• Code Duplication frenet_planner.cpp
• Overall Code Complexity node.cpp
• Overall Code Complexity config.cpp
• Large Method pid_longitudinal_controller.cpp: PidLongitudinalController::paramCallback
• Large Method test_longitudinal_controller_utils.cpp: TEST:TestLongitudinalControllerUtils:calcPoseAfterTimeDelay
• Large Method behavior_path_planner_node.cpp: BehaviorPathPlannerNode::BehaviorPathPlannerNode 🔥
• Complex Method path_utils.cpp: resamplePathWithSpline
• Complex Conditional scene.cpp: calcDistanceToPath
• Complex Method detected_objects_display.cpp: DetectedObjectsDisplay::processMessage
• Large Method test_longitudinal_controller_utils.cpp: TEST:TestLongitudinalControllerUtils:lerpTrajectoryPoint
• Complex Method utils.cpp: getSafetyCheckTargetObjects
• Complex Method rtc_interface.cpp: getModuleType
• Bumpy Road Ahead turn_signal_decider.cpp: TurnSignalDecider::getIntersectionTurnSignalInfo
• Bumpy Road Ahead utils.cpp: generateDrivableLanes 🔥
• Complex Method static_drivable_area.cpp: getBoundWithFreeSpaceAreas
• Complex Method goal_planner_module.cpp: GoalPlannerModule::sortPullOverPathCandidatesByGoalPriority 🔥
• Complex Method motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::calcExternalVelocityLimit
• Deep, Nested Complexity utils.cpp: getDistanceToCrosswalk
• Complex Method util.cpp: mergeLaneletsByTopologicalSort
• Complex Method start_planner_module.cpp: StartPlannerModule::isPreventingRearVehicleFromPassingThrough
• Complex Method mpt_optimizer.cpp: MPTOptimizer::updateExtraPoints
• Complex Method static_drivable_area.cpp: getBoundWithIntersectionAreas
• Complex Method static_drivable_area.cpp: concatenateTwoPolygons
• Large Method simple_planning_simulator_core.cpp: SimplePlanningSimulator::SimplePlanningSimulator
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::getPredictedReferencePath 🔥
• Large Method manager.cpp: DynamicAvoidanceModuleManager::init
• Large Method map_based_prediction_node.cpp: MapBasedPredictionNode::MapBasedPredictionNode 🔥
• Complex Method manager.cpp: MergeFromPrivateModuleManager::launchNewModules
• Complex Method scene_crosswalk.cpp: CrosswalkModule::checkStopForCrosswalkUsers 🔥
• Complex Method motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::smoothVelocity
• Complex Method node.cpp: ObstacleCruisePlannerNode::findYieldCruiseObstacles
• Complex Method planner_interface.cpp: PlannerInterface::generateStopTrajectory
• Large Method manager.cpp: LaneChangeModuleManager::updateModuleParams
• Complex Method mission_planner.cpp: MissionPlanner::on_set_waypoint_route
• Complex Method mission_planner.cpp: MissionPlanner::on_set_lanelet_route
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::getCurrentLanelets 🔥
• Complex Method behavior_path_planner_node.cpp: BehaviorPathPlannerNode::run 🔥
• Complex Method path_utils.cpp: getPathTurnSignal
• Complex Method analytical_jerk_constrained_smoother.cpp: AnalyticalJerkConstrainedSmoother::applyBackwardDecelFilter
• Complex Method resample.cpp: resampleTrajectory
• Complex Method node.cpp: CrosswalkTrafficLightEstimatorNode::getNonRedLanelets
• Complex Method scene.cpp: DynamicAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon
• Large Method mpt_optimizer.cpp: MPTOptimizer::MPTParam::MPTParam
• Complex Method node.cpp: SurroundObstacleCheckerNode::onTimer
• Complex Method scene_crosswalk.cpp: CrosswalkModule::clampAttentionRangeByNeighborCrosswalks 🔥
• Complex Method scene_intersection.cpp: IntersectionModule::isOverPassJudgeLinesStatus
• Complex Method shift_line_generator.cpp: ShiftLineGenerator::applyMergeProcess
• Large Method test_drivable_area_expansion.cpp: TEST:DrivableAreaExpansionProjection:expand_drivable_area
• Complex Method node.cpp: PathSampler::generatePath
• Complex Method planner_manager.cpp: PlannerManager::runApprovedModules 🔥
• Bumpy Road Ahead geometric_parallel_parking.cpp: GeometricParallelParking::planOneTrial
• Complex Method shift_pull_out.cpp: ShiftPullOut::plan
• Large Method mpt_optimizer.cpp: MPTOptimizer::MPTParam::onParam
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::predictObjectManeuverByLatDiffDistance 🔥
• Complex Method static_drivable_area.cpp: getBoundWithHatchedRoadMarkings
• Bumpy Road Ahead node.cpp: ObstacleCruisePlannerNode::createSlowDownObstacle
• Large Method mpc.cpp: MPC::generateMPCMatrix
• Bumpy Road Ahead scene.cpp: NormalLaneChange::getLaneChangePaths 🔥
• Complex Method resample.cpp: resampleTrajectory
• Complex Method scene.cpp: DynamicAvoidanceModule::registerRegulatedObjects
• Large Method behavior_path_planner_node.cpp: BehaviorPathPlannerNode::onSetParam 🔥
• Complex Method utils.cpp: filterTargetObjects
• Complex Method scene_crosswalk.cpp: CrosswalkModule::checkStopForStuckVehicles 🔥
• Complex Conditional test_convex_hull.cpp: check_hull
• Complex Conditional mpc_utils.cpp: calcNearestPoseInterp
• Complex Conditional shift_line_generator.cpp: ShiftLineGenerator::addReturnShiftLine
• Complex Conditional drivable_area_expansion.cpp: reuse_previous_poses
• Complex Conditional static_drivable_area.cpp: generatePolygonInsideBounds
• Complex Conditional static_drivable_area.cpp: concatenateTwoPolygons
• Bumpy Road Ahead static_drivable_area.cpp: getBoundWithHatchedRoadMarkings
• Complex Conditional geometric_parallel_parking.cpp: GeometricParallelParking::generateArcPathPoint
• Complex Conditional utils.cpp: getSignedDistanceFromBoundary
• Complex Conditional start_planner_module.cpp: StartPlannerModule::onFreespacePlannerTimer
• Complex Conditional start_planner_module.cpp: StartPlannerModule::isExecutionRequested
• Bumpy Road Ahead util.cpp: mergeLaneletsByTopologicalSort
• Complex Conditional mpt_optimizer.cpp: MPTOptimizer::calcOptimizedSteerAngles
• Bumpy Road Ahead node.cpp: PathSampler::publishDebugMarker
• Complex Method planner_manager.cpp: PlannerManager::run 🔥
• Complex Method start_planner_module.cpp: StartPlannerModule::logPullOutStatus
• Complex Method scene_no_stopping_area.cpp: NoStoppingAreaModule::modifyPathVelocity
• Complex Method mpt_optimizer.cpp: MPTOptimizer::calcConstraintMatrix
• Complex Method scene.cpp: DynamicAvoidanceModule::calcValidLengthToAvoid
• Complex Method safety_check.cpp: getCollidedPolygons
• Complex Method scene_crosswalk.cpp: CrosswalkModule::modifyPathVelocity 🔥
• Complex Method scene.cpp: AvoidanceModule::insertPrepareVelocity
• Complex Method scene.cpp: AvoidanceModule::isSafePath
• Complex Method planner_interface.cpp: PlannerInterface::calculateDistanceToSlowDownWithConstraints
• Complex Method config.cpp: apply_edits
• Complex Method geometric_parallel_parking.cpp: GeometricParallelParking::planPullOut
• Complex Method scene_dynamic_obstacle_stop.cpp: DynamicObstacleStopModule::modifyPathVelocity
• Complex Method analytical_jerk_constrained_smoother.cpp: AnalyticalJerkConstrainedSmoother::apply
• Bumpy Road Ahead shift_line_generator.cpp: ShiftLineGenerator::addReturnShiftLine
• Complex Method scene.cpp: RunOutModule::calcStopPoint
• Complex Method static_drivable_area.cpp: combineDrivableLanes
• Complex Method node.cpp: ObstacleAvoidancePlanner::applyInputVelocity
• Complex Method node.cpp: PathSampler::publishDebugMarker
• Complex Method scene.cpp: DynamicAvoidanceModule::calcMinMaxLateralOffsetToAvoidRegulatedObject
• Complex Method scene.cpp: DynamicAvoidanceModule::getObjectType
• Complex Method mpt_optimizer.cpp: MPTOptimizer::extendViolatedBounds
• Bumpy Road Ahead config.cpp: apply_edits
• Complex Method goal_planner_module.cpp: GoalPlannerModule::checkDecidingPathStatus 🔥
• Large Method scene.cpp: AvoidanceModule::fillFundamentalData
• Complex Method scene_merge_from_private_road.cpp: MergeFromPrivateRoadModule::modifyPathVelocity
• Complex Method utils.cpp: isParkedVehicle
• Complex Method interface.cpp: LaneChangeInterface::canTransitFailureState 🔥
• Complex Method default_planner.cpp: DefaultPlanner::is_goal_valid
• Large Method test_msg_planning_trajectory.cpp: TEST:AutowareAutoMsgsAdapter:TestTrajectory
• Complex Method shift_line_generator.cpp: ShiftLineGenerator::findNewShiftLine
• Complex Method shift_line_generator.cpp: ShiftLineGenerator::generateTotalShiftLine
• Bumpy Road Ahead goal_planner_module.cpp: GoalPlannerModule::sortPullOverPathCandidatesByGoalPriority 🔥
• Bumpy Road Ahead scene_crosswalk.cpp: CrosswalkModule::checkStopForCrosswalkUsers 🔥
• Large Method node.cpp: BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode
• Complex Method utils.cpp: getSignedDistanceFromBoundary
• Complex Method scene.cpp: TrafficLightModule::modifyPathVelocity
• Complex Method motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::calcInitialMotion
• Complex Method planner_interface.cpp: PlannerInterface::calculateMarginFromObstacleOnCurve
• Complex Method freespace_pull_over.cpp: FreespacePullOver::plan
• Large Method test_msg_predicted_objects.cpp: generate_perception_msg
• Complex Method node.cpp: PathSampler::generateCandidatesFromPreviousPath
• Complex Method scene.cpp: BlindSpotModule::checkObstacleInBlindSpot
• Complex Method scene_crosswalk.cpp: CrosswalkModule::getCollisionPoint 🔥
• Complex Method node.cpp: ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles
• Large Method node.cpp: ObstacleCruisePlannerNode::createOneStepPolygons
• Complex Method goal_planner_module.cpp: GoalPlannerModule::isCrossingPossible 🔥
• Complex Method goal_planner_module.cpp: GoalPlannerModule::generateStopPath 🔥
• Complex Method goal_planner_module.cpp: GoalPlannerModule::selectPullOverPath 🔥
• Complex Method goal_searcher.cpp: GoalSearcher::search
• Complex Method start_planner_module.cpp: StartPlannerModule::plan
• Complex Method start_planner_module.cpp: StartPlannerModule::onFreespacePlannerTimer
• Complex Method scene_no_stopping_area.cpp: NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon
• Large Method node.cpp: ObstacleCruisePlannerNode::BehaviorDeterminationParam::onParam
• Complex Method mpc_utils.cpp: calcNearestPoseInterp
• Complex Method node.cpp: CrosswalkTrafficLightEstimatorNode::updateLastDetectedSignals
• Complex Method elastic_band.cpp: makePMatrix
• Large Method node.cpp: SurroundObstacleCheckerNode::SurroundObstacleCheckerNode
• Complex Method config.cpp: topological_sort
• Bumpy Road Ahead static_drivable_area.cpp: postProcess
• Complex Method map_based_prediction_node.cpp: changeLabelForPrediction 🔥
• Complex Method static_drivable_area.cpp: extractObstaclesFromDrivableArea
• Complex Method static_drivable_area.cpp: generateDrivableArea
• Complex Method scene_intersection.cpp: IntersectionModule::getTrafficPrioritizedLevel
• Complex Method scene.cpp: NormalLaneChange::calcTerminalLaneChangePath 🔥
• Complex Method scene.cpp: NormalLaneChange::get_current_turn_signal_info 🔥
• Deep, Nested Complexity utils.cpp: getDistanceToNextIntersection
• Complex Method analytical_jerk_constrained_smoother.cpp: AnalyticalJerkConstrainedSmoother::searchDecelTargetIndices
• Complex Method scene.cpp: AvoidanceModule::addNewShiftLines
• Complex Method goal_planner_module.cpp: GoalPlannerModule::isSafePath 🔥
• Complex Method goal_planner_module.cpp: GoalPlannerModule::isExecutionRequested 🔥
• Complex Method goal_planner_module.cpp: GoalPlannerModule::onFreespaceParkingTimer 🔥
• Complex Method scene.cpp: RunOutModule::detectCollision
• Complex Method start_planner_module.cpp: StartPlannerModule::setDebugData
• Complex Method scene.cpp: BlindSpotModule::modifyPathVelocity
• Complex Method utils.cpp: getAdjacentLane
• Deep, Nested Complexity static_drivable_area.cpp: concatenatePolygons
• Complex Method smoother_base.cpp: SmootherBase::applyLateralAccelerationFilter
• Complex Method utils.cpp: isEgoOutOfRoute
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::convertPathType 🔥
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::predictObjectManeuverByTimeToLaneChange 🔥
• Deep, Nested Complexity map_based_prediction_node.cpp: MapBasedPredictionNode::convertPathType 🔥
• Complex Method shift_line_generator.cpp: ShiftLineGenerator::extractShiftLinesFromLine
• Complex Conditional scene.cpp: DynamicAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon
• Complex Method geometric_parallel_parking.cpp: GeometricParallelParking::planPullOver
• Complex Method turn_signal_decider.cpp: TurnSignalDecider::use_prior_turn_signal
• Complex Method turn_signal_decider.cpp: TurnSignalDecider::resolve_turn_signal
• Complex Method scene.cpp: NormalLaneChange::isVehicleStuck 🔥
• Complex Method scene.cpp: NormalLaneChange::isLaneChangePathSafe 🔥
• Complex Method scene.cpp: NormalLaneChange::filterObjectsByLanelets 🔥
• Complex Method start_planner_module.cpp: StartPlannerModule::updateData
• Complex Method node.cpp: CrosswalkTrafficLightEstimatorNode::updateAndGetColorState
• Complex Method node.cpp: CrosswalkTrafficLightEstimatorNode::updateLastDetectedSignal
• Complex Method scene.cpp: RunOutModule::checkCollisionWithShape
• Complex Method scene.cpp: RunOutModule::modifyPathVelocity
• Complex Method motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::onParameter
• Complex Method mpt_optimizer.cpp: MPTOptimizer::calcOptimizedSteerAngles
• Complex Method occlusion_spot_utils.cpp: generateOneNotableCollisionFromOcclusionSpot
• Complex Method rrtstar_core.cpp: RRTStar::deleteNodeUsingBranchAndBound
• Complex Method scene.cpp: DynamicAvoidanceModule::calcMinMaxLateralOffsetToAvoidUnregulatedObject
• Complex Method scene.cpp: DynamicAvoidanceModule::registerUnregulatedObjects
• Complex Method static_drivable_area.cpp: calcBound
• Complex Method utils.cpp: getLeadingStaticObjectIdx 🔥
• Complex Method turn_signal_decider.cpp: TurnSignalDecider::use_prior_turn_signal
• Complex Method scene.cpp: AvoidanceModule::plan
• Complex Method behavior_path_planner_node.cpp: BehaviorPathPlannerNode::publishPathCandidate 🔥
• Complex Method object_polygon_detail.cpp: get_shape_marker_ptr
• Primitive Obsession object_polygon_detail.cpp
• Complex Conditional node.cpp: AEB::createObjectDataUsingPointCloudClusters
• Complex Method joy_controller_node.cpp: AutowareJoyControllerNode::onJoy
• Excess Number of Function Arguments mpc_trajectory.cpp: MPCTrajectory::push_back
• Primitive Obsession mpc_utils.cpp
• Excess Number of Function Arguments vehicle_model_bicycle_dynamics.cpp: DynamicsBicycleModel::calculateDiscreteMatrix
• Excess Number of Function Arguments vehicle_model_bicycle_kinematics.cpp: KinematicsBicycleModel::calculateDiscreteMatrix
• Excess Number of Function Arguments vehicle_model_bicycle_kinematics_no_delay.cpp: KinematicsBicycleModelNoDelay::calculateDiscreteMatrix
• Complex Method longitudinal_controller_utils.cpp: isValidTrajectory
• Primitive Obsession longitudinal_controller_utils.cpp
• Excess Number of Function Arguments longitudinal_controller_utils.cpp: applyDiffLimitFilter
• Complex Conditional pid_longitudinal_controller.cpp: PidLongitudinalController::updateControlState
• Complex Conditional node.cpp: CrosswalkTrafficLightEstimatorNode::updateFlashingState
• Complex Method path_generator.cpp: PathGenerator::getFrenetPoint
• Primitive Obsession debug.cpp
• Deep, Nested Complexity utils.cpp: getAdjacentLane
• Deep, Nested Complexity utils.cpp: generateExpandedDrivableLanes
• Excess Number of Function Arguments goal_planner_module.cpp: GoalPlannerModule::GoalPlannerData::update 🔥
• Primitive Obsession util.cpp
• Complex Conditional scene.cpp: NormalLaneChange::get_current_turn_signal_info 🔥
• Complex Conditional scene.cpp: NormalLaneChange::isRequiredStop 🔥
• Primitive Obsession utils.cpp 🔥
• Complex Conditional behavior_path_planner_node.cpp: BehaviorPathPlannerNode::run 🔥
• Excess Number of Function Arguments steering_factor_interface.cpp: SteeringFactorInterface::updateSteeringFactor
• Missing Arguments Abstractions utils.cpp
• Primitive Obsession utils.cpp
• Primitive Obsession turn_signal_decider.cpp
• Complex Conditional drivable_area_expansion.cpp: expand_bound
• Complex Conditional drivable_area_expansion.cpp: expand_drivable_area
• Primitive Obsession geometric_parallel_parking.cpp
• Excess Number of Function Arguments utils.cpp: generateFeasibleStopPath
• Primitive Obsession safety_check.cpp
• Complex Method traffic_light_utils.cpp: getDistanceToNextTrafficLight
• Complex Conditional utils.cpp: findIndexOutOfGoalSearchRange
• Complex Conditional utils.cpp: checkPathRelativeAngle
• Primitive Obsession utils.cpp
• Complex Conditional scene.cpp: SideShiftModule::canTransitSuccessState
• Complex Conditional scene.cpp: SideShiftModule::plan
• Excess Number of Function Arguments utils.cpp: transformToGrid
• Excess Number of Function Arguments shift_pull_out.cpp: ShiftPullOut::refineShiftedPathToStartPose
• Complex Conditional start_planner_module.cpp: StartPlannerModule::updateData
• Excess Number of Function Arguments util.cpp: getBackwardPath
• Complex Conditional scene.cpp: BlindSpotModule::isTargetObjectType
• Excess Number of Function Arguments scene.cpp: BlindSpotModule::checkObstacleInBlindSpot
• Complex Conditional scene_crosswalk.cpp: CrosswalkModule::modifyPathVelocity 🔥
• Complex Conditional scene_crosswalk.cpp: CrosswalkModule::checkStopForCrosswalkUsers 🔥
• Complex Conditional scene_crosswalk.cpp: CrosswalkModule::checkStopForStuckVehicles 🔥
• Deep, Nested Complexity scene_crosswalk.cpp: CrosswalkModule::modifyPathVelocity 🔥
• Deep, Nested Complexity scene_crosswalk.cpp: CrosswalkModule::checkStopForCrosswalkUsers 🔥
• Deep, Nested Complexity scene_crosswalk.cpp: CrosswalkModule::getCollisionPoint 🔥
• Excess Number of Function Arguments scene_crosswalk.cpp: CrosswalkModule::checkStopForCrosswalkUsers 🔥
• Complex Method object_filtering.cpp: filter_predicted_objects
• Primitive Obsession debug.cpp
• Deep, Nested Complexity scene_intersection.cpp: IntersectionModule::modifyPathVelocityDetail
• Deep, Nested Complexity scene_intersection.cpp: IntersectionModule::updateTrafficSignalObservation
• Primitive Obsession scene_intersection.cpp
• Bumpy Road Ahead util.cpp: getFirstPointInsidePolygon
• Excess Number of Function Arguments util.cpp: generateInterpolatedPath
• Complex Method grid_utils.cpp: generateOccupiedImage
• Complex Method node.cpp: BehaviorVelocityPlannerNode::isDataReady
• Complex Method scene_module_interface.cpp: SceneModuleManagerInterface::modifyPathVelocity
• Complex Method manager.cpp: TrafficLightModuleManager::modifyPathVelocity
• Complex Conditional scene.cpp: TrafficLightModule::isPassthrough
• Complex Conditional default_planner.cpp: DefaultPlanner::is_goal_valid
• Excess Number of Function Arguments default_planner.cpp: DefaultPlanner::check_goal_footprint_inside_lanes
• Complex Conditional motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::checkData
• Deep, Nested Complexity motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::calcExternalVelocityLimit
• Deep, Nested Complexity motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::smoothVelocity
• Deep, Nested Complexity resample.cpp: resampleTrajectory
• Deep, Nested Complexity resample.cpp: resampleTrajectory
• Complex Conditional analytical_jerk_constrained_smoother.cpp: AnalyticalJerkConstrainedSmoother::applyLateralAccelerationFilter
• Complex Method calculation_time_plotter.py: CalculationCostAnalyzer.CallbackCalculationCost
• Deep, Nested Complexity mpt_optimizer.cpp: MPTOptimizer::updateExtraPoints
• Deep, Nested Complexity mpt_optimizer.cpp: MPTOptimizer::keepMinimumBoundsWidth
• Complex Conditional node.cpp: ObstacleCruisePlannerNode::onTrajectory
• Deep, Nested Complexity node.cpp: ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles
• Deep, Nested Complexity node.cpp: ObstacleCruisePlannerNode::findYieldCruiseObstacles
• Primitive Obsession node.cpp
• Primitive Obsession planner_interface.cpp
• Complex Method calculation_time_plotter.py: CalculationCostAnalyzer.CallbackCalculationCost
• Excess Number of Function Arguments rtc_interface.cpp: RTCInterface::updateCooperateStatus
• Complex Method frenet_planner.cpp: calculateCartesian
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::calculateManeuverProbability 🔥
• Complex Method utils.cpp: separateObjectsByPath
• Complex Method utils.cpp: isSatisfiedWithVehicleCondition
• Complex Method utils.cpp: getExtendedCurrentLanesFromPath
• Complex Method utils.cpp: getExtendedCurrentLanes
• Complex Method utils.cpp: getDistanceToCrosswalk
• Complex Method occlusion_spot_utils.cpp: generatePossibleCollisionsFromGridMap
• Complex Method smoother_base.cpp: SmootherBase::applySteeringRateLimit
• Complex Method node.cpp: ObstacleCruisePlannerNode::createStopObstacle
• Complex Method node.cpp: ObstacleCruisePlannerNode::convertToObstacles
• Complex Method elastic_band.cpp: EBPathSmoother::updateConstraint
• Complex Method scene.cpp: NormalLaneChange::calcAbortPath 🔥
• Complex Method scene.cpp: NormalLaneChange::filterObjects 🔥
• Complex Method goal_searcher.cpp: GoalSearcher::update
• Complex Method utils.cpp: constructCandidatePath 🔥
• Complex Method static_drivable_area.cpp: cutOverlappedLanes
• Complex Method static_drivable_area.cpp: extractBoundFromPolygon
• Complex Method scene.cpp: findLaneIdInterval
• Complex Method scene_crosswalk.cpp: CrosswalkModule::updateObjectState 🔥
• Complex Method node.cpp: AEB::checkCollision
• Bumpy Road Ahead shift_line_generator.cpp: ShiftLineGenerator::generateAvoidOutline
• Deep, Nested Complexity static_drivable_area.cpp: getOverlappedLaneletId
• Deep, Nested Complexity static_drivable_area.cpp: getBoundWithHatchedRoadMarkings
• Deep, Nested Complexity static_drivable_area.cpp: combineDrivableLanes
• Complex Method scene.cpp: createTargetPoint
• Bumpy Road Ahead scene.cpp: NormalLaneChange::insertStopPoint 🔥
• Deep, Nested Complexity map_based_prediction_node.cpp: MapBasedPredictionNode::objectsCallback 🔥
• Deep, Nested Complexity map_based_prediction_node.cpp: MapBasedPredictionNode::predictObjectManeuverByLatDiffDistance 🔥
• Bumpy Road Ahead config.cpp: topological_sort
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::calcIntentionToCrossWithTrafficSignal 🔥
• Complex Method map_based_prediction_node.cpp: removeOldObjectsHistory 🔥
• Complex Method utils.cpp: getDistanceToNextIntersection
• Complex Method utils.cpp: getRoadShoulderDistance
• Complex Method manager.cpp: IntersectionModuleManager::launchNewModules
• Bumpy Road Ahead mpt_optimizer.cpp: MPTOptimizer::extendViolatedBounds
• Complex Method node.cpp: PathSampler::copyVelocity
• Complex Method node.cpp: CrosswalkTrafficLightEstimatorNode::getHighestConfidenceTrafficSignal
• Complex Method node.cpp: CrosswalkTrafficLightEstimatorNode::estimateCrosswalkTrafficSignal
• Complex Method scene.cpp: DynamicAvoidanceModule::calcPredictedPathBasedDynamicObstaclePolygon
• Complex Method drivable_area_expansion.cpp: reuse_previous_poses
• Complex Method start_planner_module.cpp: StartPlannerModule::searchPullOutStartPoseCandidates
• Complex Method occlusion_spot_utils.cpp: calcSlowDownPointsForPossibleCollision
• Complex Method node.cpp: ObstacleCruisePlannerNode::publishDebugMarker
• Bumpy Road Ahead node.cpp: PathSampler::generatePath
• Complex Method node.cpp: SurroundObstacleCheckerNode::getNearestObstacleByDynamicObject
• Complex Method shift_line_generator.cpp: ShiftLineGenerator::setRawRegisteredShiftLine
• Bumpy Road Ahead utils.cpp: isNeverAvoidanceTarget
• Complex Method utils.cpp: generateDrivableLanes 🔥
• Complex Method scene_crosswalk.cpp: CrosswalkModule::isRedSignalForPedestrians 🔥
• Complex Method static_drivable_area.cpp: getOverlappedLaneletId
• Complex Method static_drivable_area.cpp: removeSharpPoints
• Complex Method pid_longitudinal_controller.cpp: PidLongitudinalController::predictedStateAfterDelay
• Bumpy Road Ahead map_based_prediction_node.cpp: isReachableCrosswalkEdgePoints 🔥
• Bumpy Road Ahead map_based_prediction_node.cpp: MapBasedPredictionNode::getPredictedObjectAsCrosswalkUser 🔥
• Complex Method turn_signal_decider.cpp: TurnSignalDecider::getTurnSignal
• Complex Conditional mpc.cpp: MPC::setReferenceTrajectory
• Complex Method goal_planner_module.cpp: GoalPlannerModule::isStuck 🔥
• Complex Method goal_planner_module.cpp: GoalPlannerModule::planPullOverAsOutput 🔥
• Complex Method behavior_path_planner_node.cpp: BehaviorPathPlannerNode::publishPathReference 🔥
• Complex Method behavior_path_planner_node.cpp: BehaviorPathPlannerNode::isDataReady 🔥
• Complex Method node.cpp: AEB::createObjectDataUsingPointCloudClusters
• Complex Method node.cpp: hasMergeLane
• Complex Method utils.cpp: combineRawShiftLinesWithUniqueCheck
• Complex Method utils.cpp: isSatisfiedWithCommonCondition
• Complex Method util.cpp: getFirstPointInsidePolygon
• Complex Method util.cpp: findLaneIdsInterval
• Complex Method rrtstar_core.cpp: RRTStar::extend
• Complex Conditional goal_planner_module.cpp: GoalPlannerModule::sortPullOverPathCandidatesByGoalPriority 🔥
• Complex Conditional goal_planner_module.cpp: GoalPlannerModule::setOutput 🔥
• Complex Conditional goal_planner_module.cpp: GoalPlannerModule::checkDecidingPathStatus 🔥
• Complex Conditional goal_planner_module.cpp: GoalPlannerModule::hasEnoughDistance 🔥
• Bumpy Road Ahead goal_planner_module.cpp: GoalPlannerModule::onTimer 🔥
• Bumpy Road Ahead goal_planner_module.cpp: GoalPlannerModule::setDebugData 🔥
• Complex Method utils.cpp: isParkedObject 🔥
• Bumpy Road Ahead drivable_area_expansion.cpp: reuse_previous_poses
• Complex Method scene_crosswalk.cpp: CrosswalkModule::isCrosswalkUserType 🔥
• Bumpy Road Ahead scene_crosswalk.cpp: CrosswalkModule::clampAttentionRangeByNeighborCrosswalks 🔥
• Bumpy Road Ahead scene_crosswalk.cpp: CrosswalkModule::checkStopForStuckVehicles 🔥
• Complex Conditional resample.cpp: resampleTrajectory
• Complex Method static_drivable_area.cpp: getPolygonPointsInsideBounds
• Complex Method static_drivable_area.cpp: concatenatePolygons
• Bumpy Road Ahead node.cpp: ObstacleCruisePlannerNode::findYieldCruiseObstacles
• Complex Method pid_longitudinal_controller.cpp: PidLongitudinalController::getControlData
• Complex Conditional scene.cpp: DynamicAvoidanceModule::calcMinMaxLateralOffsetToAvoidRegulatedObject
• Complex Conditional scene.cpp: DynamicAvoidanceModule::calcMinMaxLateralOffsetToAvoidUnregulatedObject
• Complex Method scene.cpp: AvoidanceModule::updateEgoBehavior
• Complex Method scene.cpp: AvoidanceModule::fillEgoStatus
• Complex Method scene.cpp: AvoidanceModule::isSatisfiedSuccessCondition
• Complex Method node.cpp: AEB::fetchLatestData
• Bumpy Road Ahead static_drivable_area.cpp: generatePolygonInsideBounds
• Bumpy Road Ahead static_drivable_area.cpp: concatenateTwoPolygons
• Bumpy Road Ahead static_drivable_area.cpp: generateDrivableArea
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::predictObjectManeuver 🔥
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::checkCloseLaneletCondition 🔥
• Complex Method map_based_prediction_node.cpp: MapBasedPredictionNode::tryMatchNewObjectToDisappeared 🔥
• Complex Method utils.cpp: findIndexOutOfGoalSearchRange
• Complex Method scene.cpp: DynamicAvoidanceModule::determineWhetherToAvoidAgainstUnregulatedObjects
• Complex Method scene.cpp: DynamicAvoidanceModule::plan
• Complex Method scene.cpp: calcDistanceToPath
• Complex Method utils.cpp: passParkedObject 🔥
• Bumpy Road Ahead path_utils.cpp: resamplePathWithSpline
• Complex Method scene_crosswalk.cpp: CrosswalkModule::applySafetySlowDownSpeed 🔥
• Bumpy Road Ahead shift_line_generator.cpp: ShiftLineGenerator::generateTotalShiftLine
• Bumpy Road Ahead utils.cpp: isParkedVehicle
• Bumpy Road Ahead utils.cpp: filterTargetObjects
• Bumpy Road Ahead utils.cpp: getSafetyCheckTargetObjects
• Bumpy Road Ahead utils.cpp: generateExpandedDrivableLanes
• Bumpy Road Ahead utils.cpp: getDistanceToCrosswalk
• Bumpy Road Ahead config.cpp: apply_links
• Excess Number of Function Arguments node.cpp: AEB::addMarker
• Bumpy Road Ahead motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::calcExternalVelocityLimit
• Bumpy Road Ahead mpt_optimizer.cpp: MPTOptimizer::updateExtraPoints
• Bumpy Road Ahead mpt_optimizer.cpp: MPTOptimizer::calcConstraintMatrix
• Bumpy Road Ahead analytical_jerk_constrained_smoother.cpp: AnalyticalJerkConstrainedSmoother::applyLateralAccelerationFilter
• Bumpy Road Ahead map_based_prediction_node.cpp: MapBasedPredictionNode::getCurrentLanelets 🔥
• Bumpy Road Ahead map_based_prediction_node.cpp: MapBasedPredictionNode::predictObjectManeuverByLatDiffDistance 🔥
• Bumpy Road Ahead map_based_prediction_node.cpp: MapBasedPredictionNode::convertPathType 🔥
• Bumpy Road Ahead geometric_parallel_parking.cpp: GeometricParallelParking::planPullOver
• Bumpy Road Ahead geometric_parallel_parking.cpp: GeometricParallelParking::planPullOut
• Bumpy Road Ahead geometric_parallel_parking.cpp: GeometricParallelParking::generateArcPath
• Bumpy Road Ahead turn_signal_decider.cpp: TurnSignalDecider::use_prior_turn_signal
• Complex Conditional scene_intersection.cpp: IntersectionModule::getTrafficPrioritizedLevel
• Bumpy Road Ahead predicted_objects_display.cpp: PredictedObjectsDisplay::createMarkers
• Bumpy Road Ahead node.cpp: AEB::createObjectDataUsingPointCloudClusters
• Complex Conditional map_based_prediction_node.cpp: hasPotentialToReach 🔥
• Complex Conditional map_based_prediction_node.cpp: MapBasedPredictionNode::objectsCallback 🔥
• Complex Conditional map_based_prediction_node.cpp: MapBasedPredictionNode::getPredictedReferencePath 🔥
• Bumpy Road Ahead scene.cpp: AvoidanceModule::isSafePath
• Complex Conditional utils.cpp: passParkedObject 🔥
• Bumpy Road Ahead planner_manager.cpp: PlannerManager::runRequestModules 🔥
• Bumpy Road Ahead default_planner.cpp: DefaultPlanner::is_goal_valid
• Bumpy Road Ahead planner_interface.cpp: PlannerInterface::generateStopTrajectory
• Bumpy Road Ahead planner_interface.cpp: PlannerInterface::generateSlowDownTrajectory
• Bumpy Road Ahead node.cpp: PathSampler::generateCandidatesFromPreviousPath
• Complex Method mpc_lateral_controller.cpp: MpcLateralController::isValidTrajectory
• Excess Number of Function Arguments mpc_utils.cpp: calcNearestPoseInterp
• Excess Number of Function Arguments debug.cpp: createAvoidLineMarkerArray
• Bumpy Road Ahead path_utils.cpp: correctDividedPathVelocity
• Excess Number of Function Arguments path_utils.cpp: getPathTurnSignal
• Excess Number of Function Arguments planner_interface.cpp: findReachTime
• Excess Number of Function Arguments object_polygon_detail.cpp: get_shape_marker_ptr
• Bumpy Road Ahead goal_planner_module.cpp: GoalPlannerModule::isStopped 🔥
• Bumpy Road Ahead goal_planner_module.cpp: GoalPlannerModule::isCrossingPossible 🔥
• Excess Number of Function Arguments debug.cpp: createPoseMarkerArray
• Bumpy Road Ahead scene_crosswalk.cpp: CrosswalkModule::applySafetySlowDownSpeed 🔥
• Bumpy Road Ahead scene_crosswalk.cpp: CrosswalkModule::isRedSignalForPedestrians 🔥
• Bumpy Road Ahead utils.cpp: getAdjacentLane
• Bumpy Road Ahead utils.cpp: getTargetNeighborLanes 🔥
• Bumpy Road Ahead utils.cpp: constructCandidatePath 🔥
• Bumpy Road Ahead utils.cpp: generateDrivableLanes 🔥
• Bumpy Road Ahead utils.cpp: getSortedLaneIds 🔥
• Bumpy Road Ahead utils.cpp: isParkedObject 🔥
• Bumpy Road Ahead utils.cpp: getDistanceToNextIntersection
• Bumpy Road Ahead utils.cpp: getExtendedCurrentLanes
• Bumpy Road Ahead utils.cpp: getExtendedCurrentLanesFromPath
• Bumpy Road Ahead node.cpp: ObstacleCruisePlannerNode::createOneStepPolygons
• Bumpy Road Ahead node.cpp: ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles
• Bumpy Road Ahead node.cpp: ObstacleCruisePlannerNode::createCollisionPointsForInsideCruiseObstacle
• Bumpy Road Ahead node.cpp: ObstacleCruisePlannerNode::createStopObstacle
• Bumpy Road Ahead node.cpp: ObstacleCruisePlannerNode::checkConsistency
• Bumpy Road Ahead node.cpp: ObstacleCruisePlannerNode::publishDebugMarker
• Bumpy Road Ahead object_polygon_detail.cpp: get_shape_marker_ptr
• Bumpy Road Ahead mpc.cpp: MPC::generateMPCMatrix
• Excess Number of Function Arguments mpc.cpp: MPC::calculateMPC
• Excess Number of Function Arguments mpc.cpp: MPC::executeOptimization
• Bumpy Road Ahead mpc_utils.cpp: calcStopDistance
• Bumpy Road Ahead node.cpp: CrosswalkTrafficLightEstimatorNode::onRoute
• Bumpy Road Ahead node.cpp: CrosswalkTrafficLightEstimatorNode::updateLastDetectedSignal
• Bumpy Road Ahead node.cpp: CrosswalkTrafficLightEstimatorNode::updateLastDetectedSignals
• Bumpy Road Ahead node.cpp: CrosswalkTrafficLightEstimatorNode::updateAndGetColorState
• Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::registerRegulatedObjects
• Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::registerUnregulatedObjects
• Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObjects
• Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::updateRefPathBeforeLaneChange
• Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::calcCollisionSection
• Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::willObjectCutOut
• Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::calcValidLengthToAvoid
• Bumpy Road Ahead scene.cpp: DynamicAvoidanceModule::calcPredictedPathBasedDynamicObstaclePolygon
• Bumpy Road Ahead freespace_pull_over.cpp: FreespacePullOver::plan
• Bumpy Road Ahead goal_searcher.cpp: GoalSearcher::search
• Bumpy Road Ahead goal_searcher.cpp: GoalSearcher::countObjectsToAvoid
• Bumpy Road Ahead goal_searcher.cpp: GoalSearcher::checkCollision
• Bumpy Road Ahead goal_searcher.cpp: GoalSearcher::checkCollisionWithLongitudinalDistance
• Bumpy Road Ahead shift_pull_over.cpp: ShiftPullOver::generatePullOverPath
• Bumpy Road Ahead behavior_path_planner_node.cpp: BehaviorPathPlannerNode::run 🔥
• Bumpy Road Ahead behavior_path_planner_node.cpp: BehaviorPathPlannerNode::publishPathCandidate 🔥
• Bumpy Road Ahead behavior_path_planner_node.cpp: BehaviorPathPlannerNode::publishPathReference 🔥
• Bumpy Road Ahead map_utils.cpp: extract_uncrossable_segments
• Bumpy Road Ahead static_drivable_area.cpp: extractBoundFromPolygon
• Bumpy Road Ahead static_drivable_area.cpp: getPolygonPointsInsideBounds
• Bumpy Road Ahead static_drivable_area.cpp: getOverlappedLaneletId
• Bumpy Road Ahead static_drivable_area.cpp: cutOverlappedLanes
• Bumpy Road Ahead static_drivable_area.cpp: extractObstaclesFromDrivableArea
• Bumpy Road Ahead static_drivable_area.cpp: combineDrivableLanes
• Bumpy Road Ahead occupancy_grid_based_collision_detector.cpp: OccupancyGridBasedCollisionDetector::detectCollision
• Bumpy Road Ahead utils.cpp: modifyVelocityByDirection
• Bumpy Road Ahead safety_check.cpp: checkSafetyWithIntegralPredictedPolygon
• Bumpy Road Ahead traffic_light_utils.cpp: getDistanceToNextTrafficLight
• Complex Method scene.cpp: SideShiftModule::updateData
• Complex Method scene.cpp: SideShiftModule::canTransitSuccessState
• Bumpy Road Ahead shift_pull_out.cpp: ShiftPullOut::calcPullOutPaths
• Bumpy Road Ahead start_planner_module.cpp: StartPlannerModule::plan
• Bumpy Road Ahead start_planner_module.cpp: StartPlannerModule::determinePriorityOrder
• Excess Number of Function Arguments start_planner_module.cpp: StartPlannerModule::findPullOutPath
• Excess Number of Function Arguments start_planner_module.cpp: StartPlannerModule::StartPlannerData::update
• Bumpy Road Ahead manager.cpp: MergeFromPrivateModuleManager::launchNewModules
• Bumpy Road Ahead scene_intersection.cpp: IntersectionModule::modifyPathVelocityDetail
• Bumpy Road Ahead scene_merge_from_private_road.cpp: MergeFromPrivateRoadModule::getAttentionLanelets
• Bumpy Road Ahead scene_no_stopping_area.cpp: NoStoppingAreaModule::checkStuckVehiclesInNoStoppingArea
• Bumpy Road Ahead scene_no_stopping_area.cpp: NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon
• Bumpy Road Ahead grid_utils.cpp: generateOccupiedImage
• Bumpy Road Ahead scene.cpp: RunOutModule::calcStopPoint
• Bumpy Road Ahead manager.cpp: TrafficLightModuleManager::modifyPathVelocity
• Bumpy Road Ahead scene.cpp: createTargetPoint
• Bumpy Road Ahead scene.cpp: TrafficLightModule::modifyPathVelocity
• Bumpy Road Ahead rrtstar_core.cpp: RRTStar::deleteNodeUsingBranchAndBound
• Bumpy Road Ahead utility_functions.cpp: combine_lanelets_with_shoulder
• Excess Number of Function Arguments mission_planner.cpp: MissionPlanner::create_route
• Excess Number of Function Arguments mission_planner.cpp: MissionPlanner::create_route
• Bumpy Road Ahead resample.cpp: resampleTrajectory
• Bumpy Road Ahead resample.cpp: resampleTrajectory
• Excess Number of Function Arguments resample.cpp: resampleTrajectory
• Excess Number of Function Arguments resample.cpp: resampleTrajectory
• Bumpy Road Ahead analytical_jerk_constrained_smoother.cpp: AnalyticalJerkConstrainedSmoother::apply
• Bumpy Road Ahead analytical_jerk_constrained_smoother.cpp: AnalyticalJerkConstrainedSmoother::applyBackwardDecelFilter
• Bumpy Road Ahead smoother_base.cpp: SmootherBase::applyLateralAccelerationFilter
• Bumpy Road Ahead calculation_time_plotter.py: CalculationCostAnalyzer.CallbackCalculationCost
• Bumpy Road Ahead node.cpp: ObstacleAvoidancePlanner::applyInputVelocity
• Bumpy Road Ahead node.cpp: ObstacleAvoidancePlanner::insertZeroVelocityOutsideDrivableArea
• Bumpy Road Ahead trajectory_utils.cpp: resampleReferencePoints
• Bumpy Road Ahead calculation_time_plotter.py: CalculationCostAnalyzer.CallbackCalculationCost
• Bumpy Road Ahead elastic_band.cpp: makePMatrix
• Bumpy Road Ahead elastic_band.cpp: EBPathSmoother::updateConstraint
• Bumpy Road Ahead elastic_band_smoother.cpp: ElasticBandSmoother::applyInputVelocity
• Complex Method mpc_lateral_controller.cpp: MpcLateralController::run
• Bumpy Road Ahead shift_line_generator.cpp: ShiftLineGenerator::findNewShiftLine
• Bumpy Road Ahead shift_line_generator.cpp: ShiftLineGenerator::setRawRegisteredShiftLine
• Excess Number of Function Arguments object_polygon_detail.cpp: get_2d_shape_marker_ptr
• Complex Method drivable_area_expansion.cpp: calculate_maximum_distance
• Excess Number of Function Arguments debug.cpp: createLaneletPolygonsMarkerArray
• Complex Method mpc.cpp: MPC::isValid
• Excess Number of Function Arguments debug.cpp: createDrivableBounds
• Excess Number of Function Arguments path_utils.cpp: splineTwoPoints
• Excess Number of Function Arguments grid_utils.cpp: denoiseOccupancyGridCV
• Bumpy Road Ahead motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::calcTrajectoryVelocity
• Bumpy Road Ahead motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::smoothVelocity
• Bumpy Road Ahead motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::insertBehindVelocity
• Bumpy Road Ahead motion_velocity_smoother_node.cpp: MotionVelocitySmootherNode::calcInitialMotion
• Excess Number of Function Arguments planner_interface.cpp: calcDecelerationVelocityFromDistanceToTarget
• Bumpy Road Ahead map_based_prediction_node.cpp: updateLateralKinematicsVector 🔥
• Bumpy Road Ahead map_based_prediction_node.cpp: removeOldObjectsHistory 🔥
• Bumpy Road Ahead map_based_prediction_node.cpp: MapBasedPredictionNode::getPredictedReferencePath 🔥
• Bumpy Road Ahead map_based_prediction_node.cpp: MapBasedPredictionNode::calcIntentionToCrossWithTrafficSignal 🔥
• Excess Number of Function Arguments mpc_utils.cpp: dynamicSmoothingVelocity
• Bumpy Road Ahead predicted_objects_display.cpp: PredictedObjectsDisplay::update
• Bumpy Road Ahead node.cpp: AEB::generateEgoPath
• Bumpy Road Ahead scene.cpp: AvoidanceModule::addNewShiftLines
• Bumpy Road Ahead planner_manager.cpp: PlannerManager::getRequestModules 🔥
• Bumpy Road Ahead drivable_area_expansion.cpp: apply_arc_length_range_smoothing
• Bumpy Road Ahead drivable_area_expansion.cpp: calculate_maximum_distance
• Bumpy Road Ahead drivable_area_expansion.cpp: expand_bound
• Bumpy Road Ahead default_planner.cpp: DefaultPlanner::check_goal_footprint_inside_lanes
• Bumpy Road Ahead planner_interface.cpp: PlannerInterface::calculateMarginFromObstacleOnCurve
• Bumpy Road Ahead planner_interface.cpp: PlannerInterface::calculateDistanceToSlowDownWithConstraints
• Complex Method drivable_area_expansion.cpp: expand_bound
• Excess Number of Function Arguments scene.cpp: calcStopPointAndInsertIndex
• Bumpy Road Ahead path_utils.cpp: getIdxByArclength
• Bumpy Road Ahead path_utils.cpp: getPathTurnSignal
• Bumpy Road Ahead utils.cpp: isMergingToEgoLane
• Bumpy Road Ahead utils.cpp: isSatisfiedWithVehicleCondition
• Bumpy Road Ahead utils.cpp: updateRegisteredObject
• Bumpy Road Ahead utils.cpp: separateObjectsByPath
• Bumpy Road Ahead utils.cpp: calcDistanceToReturnDeadLine
• Complex Method drivable_area_expansion.cpp: expand_drivable_area
• Complex Method drivable_area_expansion.cpp: apply_arc_length_range_smoothing
• Bumpy Road Ahead utils.cpp: findIndexOutOfGoalSearchRange
• Bumpy Road Ahead utils.cpp: isEgoOutOfRoute
• Bumpy Road Ahead utils.cpp: getCurrentLanesFromPath
• Bumpy Road Ahead utils.cpp: extendNextLane
• Bumpy Road Ahead utils.cpp: extendPrevLane
• Excess Number of Function Arguments drivable_area_expansion.cpp: reuse_previous_poses
• Excess Number of Function Arguments drivable_area_expansion.cpp: calculate_expansion
• Excess Number of Function Arguments drivable_area_expansion.cpp: calculate_maximum_distance
• Bumpy Road Ahead analytical_jerk_constrained_smoother.cpp: AnalyticalJerkConstrainedSmoother::searchDecelTargetIndices
• Excess Number of Function Arguments node.cpp: AEB::createObjectDataUsingPointCloudClusters
• Excess Number of Function Arguments scene.cpp: getBackwardPointFromBasePoint
• Excess Number of Function Arguments scene.cpp: createTargetPoint
• Excess Number of Function Arguments static_drivable_area.cpp: calcBound
• Excess Number of Function Arguments grid_utils.cpp: generateOccupiedImage
• Excess Number of Function Arguments occlusion_spot_utils.cpp: generateOneNotableCollisionFromOcclusionSpot
• Complex Method mpc.cpp: MPC::setReferenceTrajectory
• Excess Number of Function Arguments map_based_prediction_node.cpp: hasPotentialToReach 🔥
• Excess Number of Function Arguments map_based_prediction_node.cpp: MapBasedPredictionNode::addReferencePaths 🔥
• Excess Number of Function Arguments scene.cpp: RunOutModule::insertStoppingVelocity
• Excess Number of Function Arguments static_drivable_area.cpp: generateDrivableArea
• Excess Number of Function Arguments occlusion_spot_utils.cpp: generatePossibleCollisionsFromGridMap
• Excess Number of Function Arguments grid_utils.cpp: generateOcclusionPolygon
• Complex Method mpc.cpp: MPC::calcSteerRateLimitOnTrajectory
• Excess Number of Function Arguments map_based_prediction_node.cpp: isReachableCrosswalkEdgePoints 🔥
• Excess Number of Function Arguments util.cpp: extractStaticObjectsInExpandedPullOverLanes
• Excess Number of Function Arguments static_drivable_area.cpp: postProcess
• Excess Number of Function Arguments scene.cpp: RunOutModule::insertVelocityForState
• Excess Number of Function Arguments scene.cpp: RunOutModule::insertStoppingVelocity
• Excess Number of Function Arguments scene.cpp: RunOutModule::insertApproachingVelocity
• Excess Number of Function Arguments geometric_parallel_parking.cpp: GeometricParallelParking::planOneTrial
• Excess Number of Function Arguments debug.cpp: createArrowLineMarkerArray
• Excess Number of Function Arguments debug.cpp: createLineMarkerArray
• Excess Number of Function Arguments occlusion_spot_utils.cpp: buildDetectionAreaPolygon
• Excess Number of Function Arguments occlusion_spot_utils.cpp: generatePossibleCollisionsFromObjects
• Excess Number of Function Arguments map_based_prediction_node.cpp: FirstOrderLowpassFilter 🔥
• Excess Number of Function Arguments util.cpp: generateBetweenEgoAndExpandedPullOverLanes
• Excess Number of Function Arguments util.cpp: extractObjectsInExpandedPullOverLanes
• Complex Conditional resample.cpp: resampleTrajectory
• Excess Number of Function Arguments static_drivable_area.cpp: intersectBound
• Excess Number of Function Arguments geometric_parallel_parking.cpp: GeometricParallelParking::generatePullOverPaths
• Excess Number of Function Arguments debug.cpp: createLaneletPolygonsMarkerArray
• Excess Number of Function Arguments debug.cpp: createPoseMarkerArray
• Excess Number of Function Arguments debug.cpp: createPointMarkerArray
• Excess Number of Function Arguments util.cpp: generateExpandedPullOverLanes
• Excess Number of Function Arguments util.cpp: filterObjectsByLateralDistance
• Excess Number of Function Arguments turn_signal_decider.cpp: TurnSignalDecider::getTurnSignal
• Excess Number of Function Arguments turn_signal_decider.cpp: TurnSignalDecider::getIntersectionTurnSignalInfo
• Excess Number of Function Arguments turn_signal_decider.cpp: TurnSignalDecider::resolve_turn_signal
• Excess Number of Function Arguments turn_signal_decider.cpp: TurnSignalDecider::use_prior_turn_signal
• Excess Number of Function Arguments safety_check.cpp: checkSafetyWithRSS
• Excess Number of Function Arguments safety_check.cpp: checkCollision
• Excess Number of Function Arguments utils.cpp: separateObjectsByPath
• Excess Number of Function Arguments utils.cpp: getReferencePathFromTargetLane 🔥
• Excess Number of Function Arguments turn_signal_decider.cpp: calc_distance
• Excess Number of Function Arguments turn_signal_decider.cpp: TurnSignalDecider::set_intersection_info
• Excess Number of Function Arguments safety_check.cpp: createExtendedPolygonAlongPath
• Excess Number of Function Arguments geometric_parallel_parking.cpp: GeometricParallelParking::generateArcPath
• Excess Number of Function Arguments utils.cpp: getSafetyCheckTargetObjects
• Excess Number of Function Arguments safety_check.cpp: createExtendedPolygon
• Excess Number of Function Arguments safety_check.cpp: createExtendedPolygon
• Excess Number of Function Arguments safety_check.cpp: checkSafetyWithIntegralPredictedPolygon
• Excess Number of Function Arguments utils.cpp: passParkedObject 🔥
• Excess Number of Function Arguments geometric_parallel_parking.cpp: GeometricParallelParking::planPullOut
• Excess Number of Function Arguments geometric_parallel_parking.cpp: GeometricParallelParking::calcStartPose
• Excess Number of Function Arguments scene_intersection.cpp: reactRTCApprovalByDecisionResult
• Excess Number of Function Arguments scene_intersection.cpp: reactRTCApprovalByDecisionResult
• Excess Number of Function Arguments scene_intersection.cpp: reactRTCApprovalByDecisionResult
• Excess Number of Function Arguments utils.cpp: createOneStepPolygon
• Excess Number of Function Arguments utils.cpp: isSatisfiedWithCommonCondition
• Excess Number of Function Arguments utils.cpp: setEndData
• Excess Number of Function Arguments utils.cpp: setStartData
• Excess Number of Function Arguments utils.cpp: insertDecelPoint
• Excess Number of Function Arguments utils.cpp: filterTargetObjects
• Excess Number of Function Arguments utils.cpp: hasEnoughLengthToLaneChangeAfterAbort 🔥
• Excess Number of Function Arguments utils.cpp: convertToPredictedPath 🔥
• Excess Number of Function Arguments utils.cpp: isParkedObject 🔥
• Excess Number of Function Arguments utils.cpp: getSignedDistanceFromBoundary
• Excess Number of Function Arguments utils.cpp: getCenterLinePath
• Excess Number of Function Arguments utils.cpp: calcLaneAroundPose
• Excess Number of Function Arguments utils.cpp: createFootprintMarkerArray
• Excess Number of Function Arguments utils.cpp: createShiftLineMarkerArray
• Excess Number of Function Arguments utils.cpp: createShiftGradMarkerArray
• Excess Number of Function Arguments utils.cpp: createPolygonMarkerArray
• Excess Number of Function Arguments utils.cpp: createPredictedPathMarkerArray
• Excess Number of Function Arguments geometric_parallel_parking.cpp: GeometricParallelParking::planPullOver
• Excess Number of Function Arguments geometric_parallel_parking.cpp: GeometricParallelParking::generateArcPathPoint
• Excess Number of Function Arguments safety_check.cpp: createExtendedPolygonsFromPoseWithVelocityStamped
• Excess Number of Function Arguments utils.cpp: getTargetPreferredLanes 🔥
• Excess Number of Function Arguments utils.cpp: constructCandidatePath 🔥
• Excess Number of Function Arguments utils.cpp: isParkedObject 🔥
• Excess Number of Function Arguments utils.cpp: getLeadingStaticObjectIdx 🔥
• Excess Number of Function Arguments utils.cpp: getDistanceBetweenPredictedPaths
• Excess Number of Function Arguments utils.cpp: getDistanceBetweenPredictedPathAndObject
• Excess Number of Function Arguments utils.cpp: refinePathForGoal
• Excess Number of Function Arguments utils.cpp: getTargetLaneletPolygons
• Excess Number of Function Arguments utils.cpp: setDecelerationVelocity
• Excess Number of Function Arguments utils.cpp: setDecelerationVelocity
• Excess Number of Function Arguments utils.cpp: getExtendedCurrentLanesFromPath
• Excess Number of Function Arguments utils.cpp: createPointsMarkerArray
• Excess Number of Function Arguments utils.cpp: createPoseMarkerArray
• Excess Number of Function Arguments utils.cpp: createPathMarkerArray
• Excess Number of Function Arguments utils.cpp: createShiftLengthMarkerArray
• Excess Number of Function Arguments utils.cpp: createObjectsMarkerArray
• Excess Number of Function Arguments scene_intersection.cpp: prepareRTCByDecisionResult
• Excess Number of Function Arguments scene_intersection.cpp: prepareRTCByDecisionResult
• Excess Number of Function Arguments scene_intersection.cpp: prepareRTCByDecisionResult
• Excess Number of Function Arguments scene_intersection.cpp: prepareRTCByDecisionResult
• Excess Number of Function Arguments scene_intersection.cpp: prepareRTCByDecisionResult
• Excess Number of Function Arguments scene_intersection.cpp: prepareRTCByDecisionResult
• Excess Number of Function Arguments scene_intersection.cpp: prepareRTCByDecisionResult
• Excess Number of Function Arguments scene_intersection.cpp: prepareRTCByDecisionResult
• Excess Number of Function Arguments utils.cpp: createLaneletsAreaMarkerArray

✅ Improving Code Health:

• Complex Method ndt_scan_matcher_core.cpp: NDTScanMatcher::callback_sensor_points_main 🔥
• Large Method multi_object_tracker_core.cpp: MultiObjectTracker::MultiObjectTracker
• Code Duplication ekf_localizer.cpp
• Code Duplication ekf_module.cpp
• Complex Method ekf_localizer.cpp: EKFLocalizer::timer_callback
• Complex Method object_lanelet_filter.cpp: ObjectLaneletFilterNode::filterObject
• Bumpy Road Ahead ekf_localizer.cpp: EKFLocalizer::update_predict_frequency
• Bumpy Road Ahead ekf_localizer.cpp: EKFLocalizer::timer_callback
• Bumpy Road Ahead object_lanelet_filter.cpp: ObjectLaneletFilterNode::isObjectOverlapLanelets
• Deep, Nested Complexity **object_lan... OMITTED DUE TO SIZE