AtsushiSakai/PythonRobotics

Pattern Findings

215 matches across 8 categories. Click a row to expand file-level details.

Hyper-Verbose Identifiers91 hits · 96 pts

Severity	File	Line	Snippet
LOW	Mapping/gaussian_grid_map/gaussian_grid_map.py	19	def generate_gaussian_grid_map(ox, oy, xyreso, std):
LOW	Mapping/lidar_to_grid_map/lidar_to_grid_map.py	161	def generate_ray_casting_grid_map(ox, oy, xy_resolution, breshen=True):
LOW	Mapping/ndt_map/ndt_map.py	83	def create_dummy_observation_data():
LOW	Mapping/ray_casting_grid_map/ray_casting_grid_map.py	78	def generate_ray_casting_grid_map(ox, oy, xyreso, yawreso):
LOW	Mapping/grid_map_lib/grid_map_lib.py	158	def calc_grid_index_from_xy_index(self, x_ind, y_ind):
LOW	Mapping/grid_map_lib/grid_map_lib.py	162	def calc_xy_index_from_grid_index(self, grid_ind):
LOW	Mapping/grid_map_lib/grid_map_lib.py	166	def calc_grid_index_from_xy_pos(self, x_pos, y_pos):
LOW	Mapping/grid_map_lib/grid_map_lib.py	179	def calc_grid_central_xy_position_from_grid_index(self, grid_ind):
LOW	Mapping/grid_map_lib/grid_map_lib.py	183	def calc_grid_central_xy_position_from_xy_index(self, x_ind, y_ind):
LOW	Mapping/grid_map_lib/grid_map_lib.py	191	def calc_grid_central_xy_position_from_index(self, index, lower_pos):
LOW	Mapping/grid_map_lib/grid_map_lib.py	194	def calc_xy_index_from_position(self, pos, lower_pos, max_index):
LOW	Mapping/grid_map_lib/grid_map_lib.py	201	def check_occupied_from_xy_index(self, x_ind, y_ind, occupied_val):
LOW	…g/normal_vector_estimation/normal_vector_estimation.py	66	def ransac_normal_vector_estimation(points_3d, inlier_radio_th=0.7,
LOW	Mapping/rectangle_fitting/rectangle_fitting.py	92	def _calc_closeness_criterion(self, c1, c2):
LOW	Mapping/rectangle_fitting/rectangle_fitting.py	173	def _adoptive_range_segmentation(self, ox, oy):
LOW	SLAM/GraphBasedSLAM/graphslam/util.py	34	def solve_for_edge_dimensionality(n):
LOW	SLAM/GraphBasedSLAM/graphslam/util.py	54	def upper_triangular_matrix_to_full_matrix(arr, n):
LOW	SLAM/ICPMatching/icp_matching.py	75	def update_homogeneous_matrix(Hin, R, T):
LOW	SLAM/ICPMatching/icp_matching.py	90	def nearest_neighbor_association(previous_points, current_points):
LOW	SLAM/EKFSLAM/ekf_slam.py	136	def get_landmark_position_from_state(x, ind):
LOW	SLAM/EKFSLAM/ekf_slam.py	142	def search_correspond_landmark_id(xAug, PAug, zi):
LOW	PathTracking/pure_pursuit/pure_pursuit.py	129	def pure_pursuit_steer_control(state, trajectory, pind):
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):
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):
LOW	PathTracking/cgmres_nmpc/cgmres_nmpc.py	111	def _predict_state_with_oylar(x, y, yaw, v, u_1, u_2, dt):
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):
LOW	…er_control/model_predictive_speed_and_steer_control.py	223	def iterative_linear_mpc_control(xref, x0, dref, oa, od):
LOW	…_wheel_feedback_control/rear_wheel_feedback_control.py	105	def rear_wheel_feedback_control(state, e, k, yaw_ref):
LOW	tests/test_dubins_path_planning.py	72	def test_path_plannings_types():
LOW	tests/test_rrt_star.py	22	def test_no_obstacle_and_robot_radius():
LOW	tests/test_frenet_optimal_trajectory.py	15	def high_speed_and_merging_and_stopping_scenario_test():
LOW	tests/test_frenet_optimal_trajectory.py	23	def high_speed_and_velocity_keeping_scenario_test():
LOW	tests/test_frenet_optimal_trajectory.py	31	def low_speed_and_velocity_keeping_scenario_test():
LOW	tests/test_frenet_optimal_trajectory.py	39	def low_speed_and_merging_and_stopping_scenario_test():
LOW	tests/test_distance_map.py	89	def test_compute_udf_invalid_input():
LOW	tests/test_grid_map_lib.py	28	def test_xy_and_grid_index_conversion():
LOW	tests/test_rrt_with_pathsmoothing_radius.py	6	def test_smoothed_path_safety():
LOW	docs/conf.py	223	def get_relative_path_from_parent(file_path: str, parent_dir: str):
LOW	InvertedPendulum/inverted_pendulum_lqr_control.py	116	def get_numpy_array_from_matrix(x):
LOW	InvertedPendulum/inverted_pendulum_mpc_control.py	111	def get_numpy_array_from_matrix(x):
LOW	MissionPlanning/StateMachine/robot_behavior_case.py	88	def on_enter_returning_to_base(self):
LOW	MissionPlanning/BehaviorTree/behavior_tree.py	82	def not_set_children_raise_error(self):
LOW	MissionPlanning/BehaviorTree/behavior_tree.py	303	def not_set_child_raise_error(self):
LOW	MissionPlanning/BehaviorTree/robot_behavior_case.py	169	def create_robot_behavior_tree():
LOW	…thPlanning/ReedsSheppPath/reeds_shepp_path_planning.py	177	def left_x_right_left_x_right(x, y, phi):
LOW	…thPlanning/ReedsSheppPath/reeds_shepp_path_planning.py	345	def calc_interpolate_dists_list(lengths, step_size):
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):
LOW	…redictiveTrajectoryGenerator/lookup_table_generator.py	37	def search_nearest_one_from_lookup_table(tx, ty, tyaw, lookup_table):
LOW	PathPlanning/BSplinePath/bspline_path.py	19	def approximate_b_spline_path(x: list,
LOW	PathPlanning/BSplinePath/bspline_path.py	66	def interpolate_b_spline_path(x, y,
LOW	PathPlanning/HybridAStar/hybrid_a_star.py	182	def update_node_with_analytic_expansion(current, goal,
LOW	…g/FrenetOptimalTrajectory/frenet_optimal_trajectory.py	129	def calc_cartesian_parameters(self, fp, csp):
LOW	…g/FrenetOptimalTrajectory/frenet_optimal_trajectory.py	175	def calc_cartesian_parameters(self, fp, csp):
LOW	…g/FrenetOptimalTrajectory/frenet_optimal_trajectory.py	217	def calc_cartesian_parameters(self, fp, csp):
LOW	…g/FrenetOptimalTrajectory/frenet_optimal_trajectory.py	241	def calc_longitudinal_trajectory(self, c_speed, c_accel, Ti, s0):
LOW	…g/FrenetOptimalTrajectory/frenet_optimal_trajectory.py	261	def calc_longitudinal_trajectory(self, c_speed, c_accel, Ti, s0):
LOW	…g/FrenetOptimalTrajectory/frenet_optimal_trajectory.py	285	def calc_longitudinal_trajectory(self, c_speed, c_accel, Ti, s0):
LOW	PathPlanning/VisibilityRoadMap/visibility_road_map.py	49	def generate_visibility_nodes(self, start_x, start_y, goal_x, goal_y,
LOW	PathPlanning/VisibilityRoadMap/visibility_road_map.py	71	def calc_vertexes_in_configuration_space(self, x_list, y_list):
LOW	…ning/TimeBasedPathPlanning/GridWithDynamicObstacles.py	82	def generate_dynamic_obstacles(self, obs_count: int) -> list[list[Position]]:
31 more matches not shown…

Cross-File Repetition19 hits · 95 pts

Severity	File	Snippet
HIGH	…ing/lqr_speed_steer_control/lqr_speed_steer_control.py	solve a discrete time_algebraic riccati equation (dare)
HIGH	PathTracking/lqr_steer_control/lqr_steer_control.py	solve a discrete time_algebraic riccati equation (dare)
HIGH	InvertedPendulum/inverted_pendulum_lqr_control.py	solve a discrete time_algebraic riccati equation (dare)
HIGH	PathPlanning/LQRPlanner/lqr_planner.py	solve a discrete time_algebraic riccati equation (dare)
HIGH	…ing/lqr_speed_steer_control/lqr_speed_steer_control.py	solve the discrete time lqr controller. x[k+1] = a x[k] + b u[k] cost = sum x[k].tqx[k] + u[k].tru[k] # ref bertseka
HIGH	PathTracking/lqr_steer_control/lqr_steer_control.py	solve the discrete time lqr controller. x[k+1] = a x[k] + b u[k] cost = sum x[k].tqx[k] + u[k].tru[k] # ref bertseka
HIGH	InvertedPendulum/inverted_pendulum_lqr_control.py	solve the discrete time lqr controller. x[k+1] = a x[k] + b u[k] cost = sum x[k].tqx[k] + u[k].tru[k] # ref bertseka
HIGH	PathPlanning/LQRPlanner/lqr_planner.py	solve the discrete time lqr controller. x[k+1] = a x[k] + b u[k] cost = sum x[k].tqx[k] + u[k].tru[k] # ref bertseka
HIGH	PathPlanning/AStar/a_star.py	calc grid position :param index: :param min_position: :return:
HIGH	…eadthFirstSearch/bidirectional_breadth_first_search.py	calc grid position :param index: :param min_position: :return:
HIGH	PathPlanning/BidirectionalAStar/bidirectional_a_star.py	calc grid position :param index: :param min_position: :return:
HIGH	PathPlanning/ThetaStar/theta_star.py	calc grid position :param index: :param min_position: :return:
HIGH	PathPlanning/BreadthFirstSearch/breadth_first_search.py	calc grid position :param index: :param minp: :return:
HIGH	PathPlanning/DepthFirstSearch/depth_first_search.py	calc grid position :param index: :param minp: :return:
HIGH	…ning/GreedyBestFirstSearch/greedy_best_first_search.py	calc grid position :param index: :param minp: :return:
HIGH	PathPlanning/LQRRRTStar/lqr_rrt_star.py	setting parameter start:start position [x,y] goal:goal position [x,y] obstaclelist:obstacle positions [[x,y,size],...] r
HIGH	PathPlanning/RRTDubins/rrt_dubins.py	setting parameter start:start position [x,y] goal:goal position [x,y] obstaclelist:obstacle positions [[x,y,size],...] r
HIGH	PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py	setting parameter start:start position [x,y] goal:goal position [x,y] obstaclelist:obstacle positions [[x,y,size],...] r
HIGH	PathPlanning/RRTStarDubins/rrt_star_dubins.py	setting parameter start:start position [x,y] goal:goal position [x,y] obstaclelist:obstacle positions [[x,y,size],...] r

Deep Nesting77 hits · 77 pts

Severity	File	Line
LOW	Mapping/gaussian_grid_map/gaussian_grid_map.py	19
LOW	Mapping/rectangle_fitting/rectangle_fitting.py	233
LOW	Mapping/rectangle_fitting/rectangle_fitting.py	126
LOW	SLAM/GraphBasedSLAM/graph_based_slam.py	105
LOW	PathTracking/pure_pursuit/pure_pursuit.py	269
LOW	MissionPlanning/BehaviorTree/behavior_tree.py	196
LOW	MissionPlanning/BehaviorTree/behavior_tree.py	613
LOW	…thPlanning/ReedsSheppPath/reeds_shepp_path_planning.py	287
LOW	PathPlanning/AStar/a_star_variants.py	56
LOW	PathPlanning/AStar/a_star_variants.py	180
LOW	PathPlanning/AStar/a_star_variants.py	267
LOW	PathPlanning/AStar/a_star.py	51
LOW	PathPlanning/AStar/a_star.py	170
LOW	PathPlanning/AStar/a_star.py	189
LOW	PathPlanning/AStar/a_star_searching_from_two_side.py	131
LOW	…hPlanning/HybridAStar/dynamic_programming_heuristic.py	45
LOW	…hPlanning/HybridAStar/dynamic_programming_heuristic.py	120
LOW	…hPlanning/HybridAStar/dynamic_programming_heuristic.py	136
LOW	PathPlanning/FlowField/flowfield.py	46
LOW	PathPlanning/FlowField/flowfield.py	63
LOW	…g/FrenetOptimalTrajectory/frenet_optimal_trajectory.py	450
LOW	PathPlanning/BreadthFirstSearch/breadth_first_search.py	146
LOW	PathPlanning/BreadthFirstSearch/breadth_first_search.py	165
LOW	…eadthFirstSearch/bidirectional_breadth_first_search.py	204
LOW	…eadthFirstSearch/bidirectional_breadth_first_search.py	223
LOW	PathPlanning/DStar/dstar.py	93
LOW	PathPlanning/VoronoiRoadMap/dijkstra_search.py	34
LOW	PathPlanning/DepthFirstSearch/depth_first_search.py	143
LOW	PathPlanning/DepthFirstSearch/depth_first_search.py	162
LOW	PathPlanning/VisibilityRoadMap/visibility_road_map.py	89
LOW	…lanning/Eta3SplineTrajectory/eta3_spline_trajectory.py	199
LOW	PathPlanning/TimeBasedPathPlanning/Plotting.py	53
LOW	PathPlanning/TimeBasedPathPlanning/SpaceTimeAStar.py	27
LOW	…ning/TimeBasedPathPlanning/GridWithDynamicObstacles.py	82
LOW	PathPlanning/TimeBasedPathPlanning/SafeInterval.py	50
LOW	PathPlanning/TimeBasedPathPlanning/SafeInterval.py	102
LOW	PathPlanning/InformedRRTStar/informed_rrt_star.py	44
LOW	PathPlanning/BidirectionalAStar/bidirectional_a_star.py	49
LOW	PathPlanning/BidirectionalAStar/bidirectional_a_star.py	235
LOW	PathPlanning/BidirectionalAStar/bidirectional_a_star.py	254
LOW	…anning/WavefrontCPP/wavefront_coverage_path_planner.py	20
LOW	…anning/WavefrontCPP/wavefront_coverage_path_planner.py	94
LOW	…anning/WavefrontCPP/wavefront_coverage_path_planner.py	113
LOW	PathPlanning/ElasticBands/elastic_bands.py	257
LOW	PathPlanning/RRT/sobol/sobol.py	218
LOW	PathPlanning/ThetaStar/theta_star.py	51
LOW	PathPlanning/ThetaStar/theta_star.py	233
LOW	PathPlanning/ThetaStar/theta_star.py	252
LOW	…gTreeCPP/spiral_spanning_tree_coverage_path_planner.py	36
LOW	…gTreeCPP/spiral_spanning_tree_coverage_path_planner.py	73
LOW	…gTreeCPP/spiral_spanning_tree_coverage_path_planner.py	132
LOW	…gTreeCPP/spiral_spanning_tree_coverage_path_planner.py	154
LOW	…gTreeCPP/spiral_spanning_tree_coverage_path_planner.py	171
LOW	…gTreeCPP/spiral_spanning_tree_coverage_path_planner.py	187
LOW	PathPlanning/BugPlanning/bug.py	14
LOW	PathPlanning/BugPlanning/bug.py	39
LOW	PathPlanning/BugPlanning/bug.py	55
LOW	PathPlanning/BugPlanning/bug.py	116
LOW	PathPlanning/BugPlanning/bug.py	193
LOW	…anning/BatchInformedRRTStar/batch_informed_rrt_star.py	233
17 more matches not shown…

Redundant / Tautological Comments10 hits · 14 pts

Severity	File	Line	Snippet
LOW	PathTracking/pure_pursuit/pure_pursuit.py	323	if not plt.get_fignums(): # Check if window is closed
LOW	tests/test_rrt_with_pathsmoothing_radius.py	38	# Check if all points on the smoothed path are safely distant from obstacles
LOW	tests/test_move_to_pose.py	33	# Check if the speed is changing too much
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
LOW	…ning/TimeBasedPathPlanning/GridWithDynamicObstacles.py	199	# Check if position is in grid
LOW	…ning/TimeBasedPathPlanning/GridWithDynamicObstacles.py	203	# Check if position is not occupied at time t
LOW	…rticleSwarmOptimization/particle_swarm_optimization.py	132	# Check if start point is inside obstacle
LOW	…rticleSwarmOptimization/particle_swarm_optimization.py	139	# Check if intersection on segment
LOW	…anning/BatchInformedRRTStar/batch_informed_rrt_star.py	254	# Check if this can improve the current solution
LOW	…anning/BatchInformedRRTStar/batch_informed_rrt_star.py	534	# Check if we're at the goal

Excessive Try-Catch Wrapping7 hits · 10 pts

Severity	File	Line	Snippet
MEDIUM	…er_control/model_predictive_speed_and_steer_control.py	297	print("Error: Cannot solve mpc..")
LOW	docs/conf.py	217	except Exception:
LOW	MissionPlanning/StateMachine/state_machine.py	291	except Exception as e:
MEDIUM	MissionPlanning/StateMachine/state_machine.py	292	print(f"Error showing PlantUML: {e}")
MEDIUM	PathPlanning/HybridAStar/hybrid_a_star.py	284	print("Error: Cannot find path, No open set")
LOW	PathPlanning/ClothoidPath/clothoid_path_planner.py	76	except Exception as e:
LOW	PathPlanning/ClothoidPath/clothoid_path_planner.py	89	except Exception as e:

Over-Commented Block7 hits · 7 pts

Severity	File	Line	Snippet
LOW	SLAM/GraphBasedSLAM/graphslam/edge/__init__.py	1	# Copyright (c) 2020 Jeff Irion and contributors
LOW	SLAM/GraphBasedSLAM/graphslam/pose/__init__.py	1	# Copyright (c) 2020 Jeff Irion and contributors
LOW	PathTracking/move_to_pose/move_to_pose.py	61	v : Command linear velocity
LOW	docs/conf.py	1	#
LOW	docs/conf.py	121	# Custom sidebar templates, must be a dictionary that maps document names
LOW	docs/conf.py	141	# The paper size ('letterpaper' or 'a4paper').
LOW	PathPlanning/DStarLite/d_star_lite.py	381	# Obstacles discovered at time = row

Self-Referential Comments2 hits · 6 pts

Severity	File	Line	Snippet
MEDIUM	tests/test_distance_map.py	8	# Create a simple obstacle map for testing
MEDIUM	PathPlanning/ElasticBands/elastic_bands.py	289	# Create an elastic band object and optimize

Unused Imports2 hits · 2 pts

Severity	File	Line	Snippet
LOW	SLAM/ICPMatching/icp_matching.py	8
LOW	PathPlanning/RRT/sobol/__init__.py	1

Score History

Severity Breakdown

Pattern Findings