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fix(autoware_behavior_path_goal_planner_module): remove unused function plot_goal_candidates() #9752

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fix(autoware_behavior_path_goal_planner_module): remove unused function plot_goal_candidates() #9752

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d854387
fix(autoware_behavior_path_goal_planner_module): remove unused functi…
veqcc Dec 24, 2024
671a6fa
fix(autoware_behavior_path_goal_planner_module): remove unused functi…
veqcc Dec 24, 2024
8b9084b
Merge branch 'main' into fix/unusedFunction2
veqcc Dec 24, 2024
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16 changes: 0 additions & 16 deletions ...avior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map_case1.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2024 TIER IV, Inc.

Check notice on line 1 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map_case1.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 4.36 to 4.46, 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 @@ -134,21 +134,7 @@
Args(xs, ys, yaw_cos, yaw_sin),
Kwargs("angles"_a = "xy", "scale_units"_a = "xy", "scale"_a = 2.0));
}

Check notice on line 137 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map_case1.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Excess Number of Function Arguments 

plot_goal_candidates is no longer above the threshold for number of arguments. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
void plot_goal_candidates(
matplotlibcpp17::axes::Axes & axes, const GoalCandidates & goals,
const std::map<size_t, size_t> & goal_id2prio,
const autoware::universe_utils::LinearRing2d & local_footprint,
const std::string & color = "green")
{
for (const auto & goal : goals) {
const auto it = goal_id2prio.find(goal.id);
if (it != goal_id2prio.end()) {
plot_goal_candidate(axes, goal, it->second, local_footprint, color);
}
}
}

void plot_path_with_lane_id(
matplotlibcpp17::axes::Axes & axes, const PathWithLaneId & path,
const std::string & color = "red", const std::string & label = "", const double linewidth = 1.0)
Expand Down Expand Up @@ -607,8 +593,6 @@
// plot_lanelet(ax3, lanelet);
}

// plot_goal_candidates(ax1, goal_candidates, footprint);

// plot_path_with_lane_id(ax2, reference_path.path, "green", "reference_path");

const auto start = std::chrono::steady_clock::now();
Expand Down
16 changes: 0 additions & 16 deletions ...avior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map_case2.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2024 TIER IV, Inc.

Check notice on line 1 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map_case2.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 4.57 to 4.69, 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 @@ -133,21 +133,7 @@
Args(xs, ys, yaw_cos, yaw_sin),
Kwargs("angles"_a = "xy", "scale_units"_a = "xy", "scale"_a = 2.0));
}

Check notice on line 136 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map_case2.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Excess Number of Function Arguments 

plot_goal_candidates is no longer above the threshold for number of arguments. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
void plot_goal_candidates(
matplotlibcpp17::axes::Axes & axes, const GoalCandidates & goals,
const std::map<size_t, size_t> & goal_id2prio,
const autoware::universe_utils::LinearRing2d & local_footprint,
const std::string & color = "green")
{
for (const auto & goal : goals) {
const auto it = goal_id2prio.find(goal.id);
if (it != goal_id2prio.end()) {
plot_goal_candidate(axes, goal, it->second, local_footprint, color);
}
}
}

void plot_path_with_lane_id(
matplotlibcpp17::axes::Axes & axes, const PathWithLaneId & path,
const std::string & color = "red", const std::string & label = "", const double linewidth = 1.0)
Expand Down Expand Up @@ -607,8 +593,6 @@
// plot_lanelet(ax3, lanelet);
}

// plot_goal_candidates(ax1, goal_candidates, footprint);

// plot_path_with_lane_id(ax2, reference_path.path, "green", "reference_path");

const auto start = std::chrono::steady_clock::now();
Expand Down
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