GoalPlannerModuleManager::updateModuleParams increases from 354 to 363 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.

GoalPlannerModuleManager::initGoalPlannerParameters increases from 348 to 357 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.

GeometricParallelParking::planOneTrialClothoid is a brain method. A Brain Method -- aka a God Function -- is a large and complex function that centralizes the behavior of a module. Brain Methods are detected using a combination of the following code smells: Deeply Nested Logic + High Cyclomatic Complexity + Many Lines of Code + Many Function Arguments.

GeometricParallelParking::planPullOut increases in cyclomatic complexity from 15 to 16, 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.

GeometricParallelParking::planOneTrialClothoid has a cyclomatic complexity of 45, 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.

GeometricParallelParking::generatePullOverPaths has a cyclomatic complexity of 14, 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.

GeometricParallelParking::planOneTrialClothoid has 13 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.

GeometricParallelParking::planOneTrialClothoid 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.

The average number of function arguments in this module is 4.33 across 21 functions. The average arguments threshold is 4.00. The functions in this file have too many arguments, indicating a lack of encapsulation or too many responsibilities in the same functions. Avoid adding more.

StartPlannerModuleManager::updateModuleParams increases from 353 to 357 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.

LaneParkingPlanner::LaneParkingPlanner increases in cyclomatic complexity from 9 to 13, 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.

StartPlannerParameters::init increases from 291 to 293 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.