The lines of code increases from 1461 to 1529, 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::get_lane_change_paths 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.

NormalLaneChange::get_path_using_path_shifter has a cyclomatic complexity of 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.

NormalLaneChange::get_lane_change_paths 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.

NormalLaneChange::get_path_using_path_shifter 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 4.92 to 4.94, 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.

The mean cyclomatic complexity decreases from 4.63 to 4.10, 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.

init_sampling_parameters has 5 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

The mean cyclomatic complexity increases from 4.78 to 4.79, 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.

calculateCartesian increases in cyclomatic complexity from 9 to 10, 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.