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feat(behavior_path_planner): add option to insert zero velocity to the center line path #5517

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Nov 9, 2023
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feat(behavior_path_planner): add option to insert zero velocity to the center line path #5517

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8 changes: 5 additions & 3 deletions planning/behavior_path_planner/src/utils/utils.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021-2023 Tier IV, Inc.

Check notice on line 1 in planning/behavior_path_planner/src/utils/utils.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 2768 to 2771, 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.

Check notice on line 1 in planning/behavior_path_planner/src/utils/utils.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 6.22 to 6.23, 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.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -974,9 +974,11 @@
shorten_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset,
dp.drivable_area_types_to_skip);

// TODO(someone): insert 0 velocity on the path
// assumption: this function is called when any of the scene module is running and ego is outside
// of the route
// Insert zero velocity to each point in the path.
for (auto & point : reference_path.points) {
point.point.longitudinal_velocity_mps = 0.0;
}

output.path = std::make_shared<PathWithLaneId>(reference_path);
output.reference_path = std::make_shared<PathWithLaneId>(reference_path);
output.drivable_area_info.drivable_lanes = drivable_lanes;
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