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fix(autoware_obstacle_stop_planner): fix cppcheck warnings #9388

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fix(autoware_obstacle_stop_planner): fix cppcheck warnings #9388

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14 changes: 2 additions & 12 deletions planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2020 Tier IV, Inc.

Check notice on line 1 in planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Primitive Obsession 

The ratio of primitive types in function arguments decreases from 50.65% to 47.22%, threshold = 30.0%. The functions in this file have too many primitive types (e.g. int, double, float) in their function argument lists. Using many primitive types lead to the code smell Primitive Obsession. Avoid adding more primitive arguments.
//
// 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 @@ -111,16 +111,6 @@
}
}

constexpr double sign(const double value)
{
if (value > 0) {
return 1.0;
} else if (value < 0) {
return -1.0;
} else {
return 0.0;
}
}
} // namespace

namespace autoware::motion_planning
Expand Down Expand Up @@ -573,7 +563,7 @@
}

double AdaptiveCruiseController::calcThreshDistToForwardObstacle(
const double current_vel, const double obj_vel)
const double current_vel, const double obj_vel) const
{
const double current_vel_min = std::max(1.0, std::fabs(current_vel));
const double obj_vel_min = std::max(0.0, obj_vel);
Expand All @@ -590,7 +580,7 @@
}

double AdaptiveCruiseController::calcBaseDistToForwardObstacle(
const double current_vel, const double obj_vel)
const double current_vel, const double obj_vel) const
{
const double obj_vel_min = std::max(0.0, obj_vel);
const double minimum_distance = param_.min_dist_standard;
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4 changes: 2 additions & 2 deletions planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp
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Expand Up @@ -203,8 +203,8 @@ class AdaptiveCruiseController
double estimateRoughPointVelocity(double current_vel);
bool isObstacleVelocityHigh(const double obj_vel);
double calcUpperVelocity(const double dist_to_col, const double obj_vel, const double self_vel);
double calcThreshDistToForwardObstacle(const double current_vel, const double obj_vel);
double calcBaseDistToForwardObstacle(const double current_vel, const double obj_vel);
double calcThreshDistToForwardObstacle(const double current_vel, const double obj_vel) const;
double calcBaseDistToForwardObstacle(const double current_vel, const double obj_vel) const;
double calcTargetVelocity_P(const double target_dist, const double current_dist) const;
static double calcTargetVelocity_I(const double target_dist, const double current_dist);
double calcTargetVelocity_D(const double target_dist, const double current_dist);
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2 changes: 1 addition & 1 deletion planning/autoware_obstacle_stop_planner/src/debug_marker.hpp
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Expand Up @@ -77,7 +77,7 @@ class DebugValues
* @brief get all the debug values as an std::array
* @return array of all debug values
*/
std::array<double, static_cast<int>(TYPE::SIZE)> getValues() const { return values_; }
const std::array<double, static_cast<int>(TYPE::SIZE)> & getValues() const { return values_; }
/**
* @brief set the given type to the given value
* @param [in] type TYPE of the value
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