The lines of code increases from 1823 to 1940, 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.

LaneParkingPlanner::onTimer decreases in cyclomatic complexity from 29 to 17, 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::onTimer decreases in cyclomatic complexity from 15 to 12, 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::updateData increases from 2 to 3 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.

LaneParkingPlanner::onTimer 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.

FreespaceParkingPlanner::onTimer 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.

LaneParkingPlanner::normal_pullover_planning_helper has 4 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested 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.

LaneParkingPlanner::bezier_planning_helper has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested 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 increases from 6.30 to 6.43, 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.

LaneParkingPlanner::onTimer is no longer above the threshold for nested complexity depth. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.

LaneParkingPlanner::normal_pullover_planning_helper has a nested complexity depth of 4, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.

LaneParkingPlanner::normal_pullover_planning_helper has 6 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

LaneParkingRequest::update increases from 5 to 6 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.