The lines of code decreases from 1358 to 1357, 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.

NormalLaneChange::filter_objects decreases in cyclomatic complexity from 12 to 11, 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.

NormalLaneChange::filter_objects decreases from 1 complex conditionals with 3 branches to 1 complex conditionals with 2 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.

get_min_dist_to_current_lanes_obj is no longer above the threshold for cyclomatic complexity. 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.

get_min_dist_to_current_lanes_obj 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.

The mean cyclomatic complexity decreases from 4.80 to 4.78, 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.