The lines of code decreases from 1610 to 1356, 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::check_candidate_path_safety increases in cyclomatic complexity from 12 to 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.

NormalLaneChange::is_collided 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::calcTerminalLaneChangePath 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::is_colliding 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.

NormalLaneChange::calcTerminalLaneChangePath no longer has a complex conditional. 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.

The mean cyclomatic complexity decreases from 4.80 to 4.71, 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 lines of code in this module is no longer above the threshold

construct_candidate_path 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.

construct_candidate_path 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 4.89 to 4.80, 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.

construct_candidate_path is no longer above the threshold for number of arguments. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.