fix(autoware_multi_object_tracker): tracker update path, shape gating, and association data structure #12560
CodeScene PR Check
Quality Gate Failed
(1 files improve in Code Health)
Gates Failed
(1 file with Complex Method)
Gates Passed
See analysis details in CodeScene
Reason for failure
| Enforce advisory code health rules | Violations | Code Health Impact | |
|---|---|---|---|
| tracker_base.cpp | 1 advisory rule | 8.64 → 8.61 | Suppress |
View Improvements
| File | Code Health Impact | Categories Improved |
|---|---|---|
| shapes.cpp | 9.39 → 9.69 | Complex Method |
Quality Gate Profile: Clean Code Collective
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Details
🚩 Declining Code Health (highest to lowest):
- Complex Method tracker_base.cpp: Tracker::updateWithMeasurement
✅ Improving Code Health:
- Overall Code Complexity bev_association.cpp
- Excess Number of Function Arguments bev_assignment_scoring.cpp: calculateBevAssignmentScore
- Complex Method shapes.cpp: convertConvexHullToBoundingBox
Annotations
codescene-delta-analysis / CodeScene Code Health Review (main)
✅ Getting better: Overall Code Complexity
The mean cyclomatic complexity decreases from 4.18 to 4.09, 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.
codescene-delta-analysis / CodeScene Code Health Review (main)
✅ Getting better: Excess Number of Function Arguments
calculateBevAssignmentScore decreases from 9 to 8 arguments, max arguments = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
Check notice on line 235 in perception/autoware_multi_object_tracker/lib/object_model/shapes.cpp
codescene-delta-analysis / CodeScene Code Health Review (main)
✅ No longer an issue: Complex Method
convertConvexHullToBoundingBox is no longer above the threshold for cyclomatic complexity
codescene-delta-analysis / CodeScene Code Health Review (main)
❌ Getting worse: Complex Method
Tracker::updateWithMeasurement increases in cyclomatic complexity from 13 to 14, 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.