The lines of code decreases from 1925 to 1905, 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.

sortPullOverPaths decreases in cyclomatic complexity from 21 to 18, 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.

GoalPlannerModule::selectPullOverPath decreases in cyclomatic complexity from 14 to 13, 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.

FreespaceParkingPlanner::isStuck is no longer above the threshold for cyclomatic complexity. 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.

GoalPlannerModule::canReturnToLaneParking is no longer above the threshold for cyclomatic complexity. 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.

sortPullOverPaths decreases from 3 to 2 logical blocks with deeply nested code, threshold is one single 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.

The mean cyclomatic complexity decreases from 6.59 to 6.48, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.

PathDecisionStateController::get_next_state decreases in cyclomatic complexity from 19 to 15, 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.

PathDecisionStateController::get_next_state no longer has a complex conditional

GoalSearcher::checkCollision 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.

The mean cyclomatic complexity decreases from 5.64 to 5.57, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.

GoalPlannerModuleManager::updateModuleParams decreases from 354 to 350 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.

GoalPlannerModuleManager::initGoalPlannerParameters is no longer above the threshold for lines of code. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.