Python sample codes and textbook for robotics algorithms.
This report summarizes scanner evidence for AtsushiSakai/PythonRobotics, a Python project with 30,662 GitHub stars. SynthScan examined 38,256 lines of code across 288 source files, recording 243 pattern matches distributed across 10 syntactic categories. The legacy adjusted pattern signal is 10.3 (Moderate pattern signal); it is not an authorship estimate.
Use the findings to ask whether maintainers can explain intent, verify dependencies, simplify unnecessary scaffolding, and focus review effort. Risk Payload v1 adds ownership, supply-chain, over-engineering, and review-effort vectors when available. These are prompts for human verification, not probabilities, security findings, or measured maintenance costs.
Use each vector to guide manual verification of the underlying findings.
Can maintainers explain intent, assumptions, and trade-offs? 201 finding(s).
Are imports declared and package/API names verified? 2 finding(s).
Are wrappers, guards, and repeated structures necessary? 145 finding(s).
Which changes need focused human review? 243 finding(s).
This chart tracks the legacy adjusted pattern score across scan runs. Changes can reflect source changes, scan coverage, or detector/scoring versions; they do not measure AI adoption or prove that a team refactored code. Compare runs only when their scoring versions are compatible. The dashed line tracks the raw pattern-hit count.
Groups findings by configured severity weight. Severity is not a confidence estimate, security rating, or proof that a package is missing. Verify imports against the project's manifests and inspect each finding in its local design context.
This horizontal bar chart shows where configured pattern scores accumulate across directories. Treat the bars as locations to inspect, not as evidence of authorship or code quality. Use the file-level findings to decide whether a directory needs a focused ownership, dependency, complexity, or review check.
The scanner identified 243 distinct pattern matches across 10 syntactic categories. Each entry below represents a discrete location in the source code where the engine recorded a detector match to inspect in context. Expand any category row to inspect the individual file paths, line numbers, code snippets, and the lexical context (CODE, COMMENT, or STRING) in which each match was detected.
Reading the findings table: The Severity column indicates the configured finding weight (CRITICAL / HIGH / MEDIUM / LOW). The Context column identifies whether the match occurred inside executable code, an inline comment, or a string literal — legacy comment-context matches receive a ×1.5 score weight. The ⚡ bolt icon marks clustered matches: three or more patterns within a 10-line window, each receiving an additional ×1.5 density multiplier under the legacy scoring model.
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| HIGH | …ing/lqr_speed_steer_control/lqr_speed_steer_control.py | 0 | solve a discrete time_algebraic riccati equation (dare) | STRING |
| HIGH | PathTracking/lqr_steer_control/lqr_steer_control.py | 0 | solve a discrete time_algebraic riccati equation (dare) | STRING |
| HIGH | InvertedPendulum/inverted_pendulum_lqr_control.py | 0 | solve a discrete time_algebraic riccati equation (dare) | STRING |
| HIGH | PathPlanning/LQRPlanner/lqr_planner.py | 0 | solve a discrete time_algebraic riccati equation (dare) | STRING |
| HIGH | …ing/lqr_speed_steer_control/lqr_speed_steer_control.py | 0 | solve the discrete time lqr controller. x[k+1] = a x[k] + b u[k] cost = sum x[k].t*q*x[k] + u[k].t*r*u[k] # ref bertseka | STRING |
| HIGH | PathTracking/lqr_steer_control/lqr_steer_control.py | 0 | solve the discrete time lqr controller. x[k+1] = a x[k] + b u[k] cost = sum x[k].t*q*x[k] + u[k].t*r*u[k] # ref bertseka | STRING |
| HIGH | InvertedPendulum/inverted_pendulum_lqr_control.py | 0 | solve the discrete time lqr controller. x[k+1] = a x[k] + b u[k] cost = sum x[k].t*q*x[k] + u[k].t*r*u[k] # ref bertseka | STRING |
| HIGH | PathPlanning/LQRPlanner/lqr_planner.py | 0 | solve the discrete time lqr controller. x[k+1] = a x[k] + b u[k] cost = sum x[k].t*q*x[k] + u[k].t*r*u[k] # ref bertseka | STRING |
| HIGH | PathPlanning/AStar/a_star.py | 0 | initialize grid map for greedy best-first planning ox: x position list of obstacles [m] oy: y position list of obstacles | STRING |
| HIGH | PathPlanning/BidirectionalAStar/bidirectional_a_star.py | 0 | initialize grid map for greedy best-first planning ox: x position list of obstacles [m] oy: y position list of obstacles | STRING |
| HIGH | PathPlanning/BreadthFirstSearch/breadth_first_search.py | 0 | initialize grid map for greedy best-first planning ox: x position list of obstacles [m] oy: y position list of obstacles | STRING |
| HIGH | …eadthFirstSearch/bidirectional_breadth_first_search.py | 0 | initialize grid map for greedy best-first planning ox: x position list of obstacles [m] oy: y position list of obstacles | STRING |
| HIGH | PathPlanning/DepthFirstSearch/depth_first_search.py | 0 | initialize grid map for greedy best-first planning ox: x position list of obstacles [m] oy: y position list of obstacles | STRING |
| HIGH | PathPlanning/ThetaStar/theta_star.py | 0 | initialize grid map for greedy best-first planning ox: x position list of obstacles [m] oy: y position list of obstacles | STRING |
| HIGH | PathPlanning/Dijkstra/dijkstra.py | 0 | initialize grid map for greedy best-first planning ox: x position list of obstacles [m] oy: y position list of obstacles | STRING |
| HIGH | …ning/GreedyBestFirstSearch/greedy_best_first_search.py | 0 | initialize grid map for greedy best-first planning ox: x position list of obstacles [m] oy: y position list of obstacles | STRING |
| HIGH | PathPlanning/AStar/a_star.py | 0 | theta star path search input: s_x: start x position [m] s_y: start y position [m] gx: goal x position [m] gy: goal y pos | STRING |
| HIGH | PathPlanning/BidirectionalAStar/bidirectional_a_star.py | 0 | theta star path search input: s_x: start x position [m] s_y: start y position [m] gx: goal x position [m] gy: goal y pos | STRING |
| HIGH | PathPlanning/ThetaStar/theta_star.py | 0 | theta star path search input: s_x: start x position [m] s_y: start y position [m] gx: goal x position [m] gy: goal y pos | STRING |
| HIGH | PathPlanning/AStar/a_star.py | 0 | calc grid position :param index: :param min_position: :return: | STRING |
| HIGH | …eadthFirstSearch/bidirectional_breadth_first_search.py | 0 | calc grid position :param index: :param min_position: :return: | STRING |
| HIGH | PathPlanning/BidirectionalAStar/bidirectional_a_star.py | 0 | calc grid position :param index: :param min_position: :return: | STRING |
| HIGH | PathPlanning/ThetaStar/theta_star.py | 0 | calc grid position :param index: :param min_position: :return: | STRING |
| HIGH | PathPlanning/BreadthFirstSearch/breadth_first_search.py | 0 | calc grid position :param index: :param minp: :return: | STRING |
| HIGH | PathPlanning/DepthFirstSearch/depth_first_search.py | 0 | calc grid position :param index: :param minp: :return: | STRING |
| HIGH | …ning/GreedyBestFirstSearch/greedy_best_first_search.py | 0 | calc grid position :param index: :param minp: :return: | STRING |
| HIGH | PathPlanning/LQRRRTStar/lqr_rrt_star.py | 0 | setting parameter start:start position [x,y] goal:goal position [x,y] obstacle_list:obstacle positions [[x,y,size],...] | STRING |
| HIGH | PathPlanning/RRTDubins/rrt_dubins.py | 0 | setting parameter start:start position [x,y] goal:goal position [x,y] obstacle_list:obstacle positions [[x,y,size],...] | STRING |
| HIGH | PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py | 0 | setting parameter start:start position [x,y] goal:goal position [x,y] obstacle_list:obstacle positions [[x,y,size],...] | STRING |
| HIGH | PathPlanning/RRTStarDubins/rrt_star_dubins.py | 0 | setting parameter start:start position [x,y] goal:goal position [x,y] obstacle_list:obstacle positions [[x,y,size],...] | STRING |
| HIGH | PathPlanning/RRT/rrt_with_sobol_sampler.py | 0 | setting parameter start:start position [x,y] goal:goal position [x,y] obstacle_list:obstacle positions [[x,y,size],...] | STRING |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | Mapping/gaussian_grid_map/gaussian_grid_map.py | 19 | def generate_gaussian_grid_map(ox, oy, xyreso, std): | CODE |
| LOW | Mapping/lidar_to_grid_map/lidar_to_grid_map.py | 161 | def generate_ray_casting_grid_map(ox, oy, xy_resolution, breshen=True): | CODE |
| LOW | Mapping/ndt_map/ndt_map.py | 83 | def create_dummy_observation_data(): | CODE |
| LOW | Mapping/ray_casting_grid_map/ray_casting_grid_map.py | 78 | def generate_ray_casting_grid_map(ox, oy, xyreso, yawreso): | CODE |
| LOW⚡ | Mapping/grid_map_lib/grid_map_lib.py | 158 | def calc_grid_index_from_xy_index(self, x_ind, y_ind): | CODE |
| LOW⚡ | Mapping/grid_map_lib/grid_map_lib.py | 162 | def calc_xy_index_from_grid_index(self, grid_ind): | CODE |
| LOW⚡ | Mapping/grid_map_lib/grid_map_lib.py | 166 | def calc_grid_index_from_xy_pos(self, x_pos, y_pos): | CODE |
| LOW⚡ | Mapping/grid_map_lib/grid_map_lib.py | 179 | def calc_grid_central_xy_position_from_grid_index(self, grid_ind): | CODE |
| LOW⚡ | Mapping/grid_map_lib/grid_map_lib.py | 183 | def calc_grid_central_xy_position_from_xy_index(self, x_ind, y_ind): | CODE |
| LOW⚡ | Mapping/grid_map_lib/grid_map_lib.py | 191 | def calc_grid_central_xy_position_from_index(self, index, lower_pos): | CODE |
| LOW⚡ | Mapping/grid_map_lib/grid_map_lib.py | 194 | def calc_xy_index_from_position(self, pos, lower_pos, max_index): | CODE |
| LOW⚡ | Mapping/grid_map_lib/grid_map_lib.py | 201 | def check_occupied_from_xy_index(self, x_ind, y_ind, occupied_val): | CODE |
| LOW | …g/normal_vector_estimation/normal_vector_estimation.py | 66 | def ransac_normal_vector_estimation(points_3d, inlier_radio_th=0.7, | CODE |
| LOW | Mapping/rectangle_fitting/rectangle_fitting.py | 92 | def _calc_closeness_criterion(self, c1, c2): | CODE |
| LOW | Mapping/rectangle_fitting/rectangle_fitting.py | 173 | def _adoptive_range_segmentation(self, ox, oy): | CODE |
| LOW | SLAM/GraphBasedSLAM/graphslam/util.py | 34 | def solve_for_edge_dimensionality(n): | STRING |
| LOW | SLAM/GraphBasedSLAM/graphslam/util.py | 54 | def upper_triangular_matrix_to_full_matrix(arr, n): | STRING |
| LOW | SLAM/ICPMatching/icp_matching.py | 75 | def update_homogeneous_matrix(Hin, R, T): | CODE |
| LOW | SLAM/ICPMatching/icp_matching.py | 90 | def nearest_neighbor_association(previous_points, current_points): | CODE |
| LOW | SLAM/EKFSLAM/ekf_slam.py | 136 | def get_landmark_position_from_state(x, ind): | CODE |
| LOW | SLAM/EKFSLAM/ekf_slam.py | 142 | def search_correspond_landmark_id(xAug, PAug, zi): | CODE |
| LOW | PathTracking/pure_pursuit/pure_pursuit.py | 129 | def pure_pursuit_steer_control(state, trajectory, pind): | CODE |
| LOW | …ing/lqr_speed_steer_control/lqr_speed_steer_control.py | 96 | def lqr_speed_steering_control(state, cx, cy, cyaw, ck, pe, pth_e, sp, Q, R): | CODE |
| LOW | PathTracking/cgmres_nmpc/cgmres_nmpc.py | 66 | def calc_predict_and_adjoint_state(self, x, y, yaw, v, u_1s, u_2s, N, dt): | CODE |
| LOW | PathTracking/cgmres_nmpc/cgmres_nmpc.py | 111 | def _predict_state_with_oylar(x, y, yaw, v, u_1, u_2, dt): | CODE |
| LOW | PathTracking/cgmres_nmpc/cgmres_nmpc.py | 124 | def _adjoint_state_with_oylar(yaw, v, lam_1, lam_2, lam_3, lam_4, u_2, dt): | CODE |
| LOW | …er_control/model_predictive_speed_and_steer_control.py | 223 | def iterative_linear_mpc_control(xref, x0, dref, oa, od): | CODE |
| LOW | …_wheel_feedback_control/rear_wheel_feedback_control.py | 105 | def rear_wheel_feedback_control(state, e, k, yaw_ref): | CODE |
| LOW | tests/test_dubins_path_planning.py | 72 | def test_path_plannings_types(): | CODE |
| LOW | tests/test_rrt_star.py | 22 | def test_no_obstacle_and_robot_radius(): | CODE |
| LOW⚡ | tests/test_frenet_optimal_trajectory.py | 15 | def high_speed_and_merging_and_stopping_scenario_test(): | CODE |
| LOW⚡ | tests/test_frenet_optimal_trajectory.py | 23 | def high_speed_and_velocity_keeping_scenario_test(): | CODE |
| LOW⚡ | tests/test_frenet_optimal_trajectory.py | 31 | def low_speed_and_velocity_keeping_scenario_test(): | CODE |
| LOW⚡ | tests/test_frenet_optimal_trajectory.py | 39 | def low_speed_and_merging_and_stopping_scenario_test(): | CODE |
| LOW | tests/test_gps_imu_fusion.py | 9 | def test_body_frame_acceleration_and_bias_compensation(): | CODE |
| LOW | tests/test_gps_imu_fusion.py | 20 | def test_motion_without_bias_estimation(): | CODE |
| LOW | tests/test_gps_imu_fusion.py | 28 | def test_motion_jacobians_match_finite_differences(state_size): | CODE |
| LOW | tests/test_gps_imu_fusion.py | 46 | def test_prediction_noise_units_at_rest(state_size): | CODE |
| LOW | tests/test_gps_imu_fusion.py | 57 | def test_gps_update_matches_linear_kalman_result(state_size): | CODE |
| LOW | tests/test_gps_imu_fusion.py | 74 | def test_heading_wraps_during_prediction_and_correction(): | CODE |
| LOW | tests/test_gps_imu_fusion.py | 86 | def test_fusion_reduces_drift_with_gps_outage(seed): | CODE |
| LOW | tests/test_gps_imu_fusion.py | 104 | def test_no_bias_filter_uses_imu_and_gps(): | CODE |
| LOW | tests/test_gps_imu_fusion.py | 119 | def test_gps_schedule_outage_and_recovery(): | CODE |
| LOW⚡ | tests/test_gps_imu_fusion.py | 137 | def test_main_without_animation(monkeypatch): | CODE |
| LOW⚡ | tests/test_gps_imu_fusion.py | 146 | def test_position_ellipse_has_three_sigma_mahalanobis_radius(covariance): | CODE |
| LOW⚡ | tests/test_gps_imu_fusion.py | 155 | def test_position_ellipse_with_zero_variance_axis(): | CODE |
| LOW | tests/test_distance_map.py | 89 | def test_compute_udf_invalid_input(): | CODE |
| LOW | tests/test_grid_map_lib.py | 28 | def test_xy_and_grid_index_conversion(): | CODE |
| LOW | tests/test_rrt_with_pathsmoothing_radius.py | 6 | def test_smoothed_path_safety(): | CODE |
| LOW | docs/conf.py | 223 | def get_relative_path_from_parent(file_path: str, parent_dir: str): | CODE |
| LOW | InvertedPendulum/inverted_pendulum_lqr_control.py | 116 | def get_numpy_array_from_matrix(x): | CODE |
| LOW | InvertedPendulum/inverted_pendulum_mpc_control.py | 111 | def get_numpy_array_from_matrix(x): | CODE |
| LOW | MissionPlanning/StateMachine/robot_behavior_case.py | 88 | def on_enter_returning_to_base(self): | CODE |
| LOW | MissionPlanning/BehaviorTree/behavior_tree.py | 82 | def not_set_children_raise_error(self): | CODE |
| LOW | MissionPlanning/BehaviorTree/behavior_tree.py | 303 | def not_set_child_raise_error(self): | CODE |
| LOW | MissionPlanning/BehaviorTree/robot_behavior_case.py | 169 | def create_robot_behavior_tree(): | CODE |
| LOW | …thPlanning/ReedsSheppPath/reeds_shepp_path_planning.py | 177 | def left_x_right_left_x_right(x, y, phi): | CODE |
| LOW | …thPlanning/ReedsSheppPath/reeds_shepp_path_planning.py | 345 | def calc_interpolate_dists_list(lengths, step_size): | CODE |
| LOW | …thPlanning/ReedsSheppPath/reeds_shepp_path_planning.py | 427 | def reeds_shepp_path_planning(sx, sy, syaw, gx, gy, gyaw, maxc, step_size=0.2): | CODE |
| LOW | …redictiveTrajectoryGenerator/lookup_table_generator.py | 37 | def search_nearest_one_from_lookup_table(tx, ty, tyaw, lookup_table): | CODE |
| 44 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | Mapping/gaussian_grid_map/gaussian_grid_map.py | 19 | CODE | |
| LOW | Mapping/rectangle_fitting/rectangle_fitting.py | 233 | CODE | |
| LOW | Mapping/rectangle_fitting/rectangle_fitting.py | 126 | CODE | |
| LOW | SLAM/GraphBasedSLAM/graph_based_slam.py | 105 | CODE | |
| LOW | PathTracking/pure_pursuit/pure_pursuit.py | 269 | CODE | |
| LOW | MissionPlanning/BehaviorTree/behavior_tree.py | 196 | CODE | |
| LOW | MissionPlanning/BehaviorTree/behavior_tree.py | 613 | CODE | |
| LOW | …thPlanning/ReedsSheppPath/reeds_shepp_path_planning.py | 287 | CODE | |
| LOW | PathPlanning/AStar/a_star_variants.py | 56 | CODE | |
| LOW | PathPlanning/AStar/a_star_variants.py | 180 | CODE | |
| LOW | PathPlanning/AStar/a_star_variants.py | 267 | CODE | |
| LOW | PathPlanning/AStar/a_star.py | 51 | CODE | |
| LOW | PathPlanning/AStar/a_star.py | 170 | CODE | |
| LOW | PathPlanning/AStar/a_star.py | 189 | CODE | |
| LOW | PathPlanning/AStar/a_star_searching_from_two_side.py | 131 | CODE | |
| LOW | …hPlanning/HybridAStar/dynamic_programming_heuristic.py | 45 | CODE | |
| LOW | …hPlanning/HybridAStar/dynamic_programming_heuristic.py | 120 | CODE | |
| LOW | …hPlanning/HybridAStar/dynamic_programming_heuristic.py | 136 | CODE | |
| LOW | PathPlanning/FlowField/flowfield.py | 46 | CODE | |
| LOW | PathPlanning/FlowField/flowfield.py | 63 | CODE | |
| LOW | …g/FrenetOptimalTrajectory/frenet_optimal_trajectory.py | 450 | CODE | |
| LOW | PathPlanning/BreadthFirstSearch/breadth_first_search.py | 146 | CODE | |
| LOW | PathPlanning/BreadthFirstSearch/breadth_first_search.py | 165 | CODE | |
| LOW | …eadthFirstSearch/bidirectional_breadth_first_search.py | 204 | CODE | |
| LOW | …eadthFirstSearch/bidirectional_breadth_first_search.py | 223 | CODE | |
| LOW | PathPlanning/DStar/dstar.py | 93 | CODE | |
| LOW | PathPlanning/VoronoiRoadMap/dijkstra_search.py | 34 | CODE | |
| LOW | PathPlanning/DepthFirstSearch/depth_first_search.py | 143 | CODE | |
| LOW | PathPlanning/DepthFirstSearch/depth_first_search.py | 162 | CODE | |
| LOW | PathPlanning/VisibilityRoadMap/visibility_road_map.py | 89 | CODE | |
| LOW | …lanning/Eta3SplineTrajectory/eta3_spline_trajectory.py | 199 | CODE | |
| LOW | PathPlanning/TimeBasedPathPlanning/Plotting.py | 53 | CODE | |
| LOW | PathPlanning/TimeBasedPathPlanning/SpaceTimeAStar.py | 27 | CODE | |
| LOW | …ning/TimeBasedPathPlanning/GridWithDynamicObstacles.py | 82 | CODE | |
| LOW | PathPlanning/TimeBasedPathPlanning/SafeInterval.py | 50 | CODE | |
| LOW | PathPlanning/TimeBasedPathPlanning/SafeInterval.py | 102 | CODE | |
| LOW | PathPlanning/InformedRRTStar/informed_rrt_star.py | 44 | CODE | |
| LOW | PathPlanning/BidirectionalAStar/bidirectional_a_star.py | 49 | CODE | |
| LOW | PathPlanning/BidirectionalAStar/bidirectional_a_star.py | 235 | CODE | |
| LOW | PathPlanning/BidirectionalAStar/bidirectional_a_star.py | 254 | CODE | |
| LOW | …anning/WavefrontCPP/wavefront_coverage_path_planner.py | 20 | CODE | |
| LOW | …anning/WavefrontCPP/wavefront_coverage_path_planner.py | 94 | CODE | |
| LOW | …anning/WavefrontCPP/wavefront_coverage_path_planner.py | 113 | CODE | |
| LOW | PathPlanning/ElasticBands/elastic_bands.py | 257 | CODE | |
| LOW | PathPlanning/RRT/sobol/sobol.py | 218 | CODE | |
| LOW | PathPlanning/ThetaStar/theta_star.py | 51 | CODE | |
| LOW | PathPlanning/ThetaStar/theta_star.py | 233 | CODE | |
| LOW | PathPlanning/ThetaStar/theta_star.py | 252 | CODE | |
| LOW | …gTreeCPP/spiral_spanning_tree_coverage_path_planner.py | 36 | CODE | |
| LOW | …gTreeCPP/spiral_spanning_tree_coverage_path_planner.py | 73 | CODE | |
| LOW | …gTreeCPP/spiral_spanning_tree_coverage_path_planner.py | 132 | CODE | |
| LOW | …gTreeCPP/spiral_spanning_tree_coverage_path_planner.py | 154 | CODE | |
| LOW | …gTreeCPP/spiral_spanning_tree_coverage_path_planner.py | 171 | CODE | |
| LOW | …gTreeCPP/spiral_spanning_tree_coverage_path_planner.py | 187 | CODE | |
| LOW | PathPlanning/BugPlanning/bug.py | 14 | CODE | |
| LOW | PathPlanning/BugPlanning/bug.py | 39 | CODE | |
| LOW | PathPlanning/BugPlanning/bug.py | 55 | CODE | |
| LOW | PathPlanning/BugPlanning/bug.py | 116 | CODE | |
| LOW | PathPlanning/BugPlanning/bug.py | 193 | CODE | |
| LOW | …anning/BatchInformedRRTStar/batch_informed_rrt_star.py | 233 | CODE | |
| 17 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | PathTracking/pure_pursuit/pure_pursuit.py | 323 | if not plt.get_fignums(): # Check if window is closed | CODE |
| LOW | tests/test_rrt_with_pathsmoothing_radius.py | 38 | # Check if all points on the smoothed path are safely distant from obstacles | COMMENT |
| LOW | tests/test_move_to_pose.py | 33 | # Check if the speed is changing too much | COMMENT |
| LOW | PathPlanning/TimeBasedPathPlanning/SpaceTimeAStar.py | 96 | # Check if the new node is valid for the next 2 time steps - one step to enter, and another to leave | COMMENT |
| LOW | …ning/TimeBasedPathPlanning/GridWithDynamicObstacles.py | 199 | # Check if position is in grid | COMMENT |
| LOW | …ning/TimeBasedPathPlanning/GridWithDynamicObstacles.py | 203 | # Check if position is not occupied at time t | COMMENT |
| LOW | …rticleSwarmOptimization/particle_swarm_optimization.py | 132 | # Check if start point is inside obstacle | COMMENT |
| LOW | …rticleSwarmOptimization/particle_swarm_optimization.py | 139 | # Check if intersection on segment | COMMENT |
| LOW | …anning/BatchInformedRRTStar/batch_informed_rrt_star.py | 254 | # Check if this can improve the current solution | COMMENT |
| LOW | …anning/BatchInformedRRTStar/batch_informed_rrt_star.py | 534 | # Check if we're at the goal | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM | …er_control/model_predictive_speed_and_steer_control.py | 297 | print("Error: Cannot solve mpc..") | CODE |
| LOW | docs/conf.py | 217 | except Exception: | CODE |
| LOW | MissionPlanning/StateMachine/state_machine.py | 291 | except Exception as e: | CODE |
| MEDIUM | MissionPlanning/StateMachine/state_machine.py | 292 | print(f"Error showing PlantUML: {e}") | CODE |
| MEDIUM | PathPlanning/HybridAStar/hybrid_a_star.py | 284 | print("Error: Cannot find path, No open set") | CODE |
| LOW | PathPlanning/ClothoidPath/clothoid_path_planner.py | 76 | except Exception as e: | CODE |
| LOW | PathPlanning/ClothoidPath/clothoid_path_planner.py | 89 | except Exception as e: | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| HIGH | tests/test_distance_map.py | 97 | except ValueError: | CODE |
| HIGH | …anning/BatchInformedRRTStar/batch_informed_rrt_star.py | 290 | except KeyError: | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | SLAM/GraphBasedSLAM/graphslam/edge/__init__.py | 1 | # Copyright (c) 2020 Jeff Irion and contributors | COMMENT |
| LOW | SLAM/GraphBasedSLAM/graphslam/pose/__init__.py | 1 | # Copyright (c) 2020 Jeff Irion and contributors | COMMENT |
| LOW | PathTracking/move_to_pose/move_to_pose.py | 61 | v : Command linear velocity | COMMENT |
| LOW | docs/conf.py | 1 | # | COMMENT |
| LOW | docs/conf.py | 121 | # Custom sidebar templates, must be a dictionary that maps document names | COMMENT |
| LOW | docs/conf.py | 141 | # The paper size ('letterpaper' or 'a4paper'). | COMMENT |
| LOW | PathPlanning/DStarLite/d_star_lite.py | 381 | # Obstacles discovered at time = row | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM | tests/test_distance_map.py | 8 | # Create a simple obstacle map for testing | COMMENT |
| MEDIUM | PathPlanning/ElasticBands/elastic_bands.py | 289 | # Create an elastic band object and optimize | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | SLAM/ICPMatching/icp_matching.py | 8 | CODE | |
| LOW | PathPlanning/RRT/sobol/__init__.py | 1 | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | …lNavigation/drone_3d_trajectory_following/Quadrotor.py | 12 | CODE |