mithi/hexapod-kinematics-library

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Function computeOrientationProperties has a Cognitive Complexity of 21 (exceeds 6 allowed). Consider refactoring.
Open

const computeOrientationProperties = (legsNoGravity, flags = { shuffle: false }) => {
    const someLegTrios = flags.shuffle
        ? shuffleArray(SOME_LEG_ID_TRIOS.slice())
        : SOME_LEG_ID_TRIOS

Severity: Minor
Found in src/solvers/orient/orientSolverGeneral.js - About 2 hrs to fix

Cognitive Complexity

Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

A method's cognitive complexity is based on a few simple rules:

  • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
  • Code is considered more complex for each "break in the linear flow of the code"
  • Code is considered more complex when "flow breaking structures are nested"

Further reading

Function solve has 43 lines of code (exceeds 25 allowed). Consider refactoring.
Open

    solve(legDimensions, bodyContactPoints, groundContactPoints, axes) {
        // prettier-ignore
        this.params = {
            bodyContactPoints, groundContactPoints, axes, legDimensions
        }
Severity: Minor
Found in src/solvers/ik/IKSolver.js - About 1 hr to fix

    Function constructor has 39 lines of code (exceeds 25 allowed). Consider refactoring.
    Open

        constructor(
            dimensions,
            pose,
            flags = { hasNoPoints: false, assumeKnownGroundPoints: false, wontRotate: false }
        ) {
    Severity: Minor
    Found in src/VirtualHexapod.js - About 1 hr to fix

      Function solve has a Cognitive Complexity of 13 (exceeds 6 allowed). Consider refactoring.
      Open

          solve(legDimensions, bodyContactPoints, groundContactPoints, axes) {
              // prettier-ignore
              this.params = {
                  bodyContactPoints, groundContactPoints, axes, legDimensions
              }
      Severity: Minor
      Found in src/solvers/ik/IKSolver.js - About 1 hr to fix

      Cognitive Complexity

      Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

      A method's cognitive complexity is based on a few simple rules:

      • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
      • Code is considered more complex for each "break in the linear flow of the code"
      • Code is considered more complex when "flow breaking structures are nested"

      Further reading

      Function findTwoPivotPoints has 32 lines of code (exceeds 25 allowed). Consider refactoring.
      Open

      const findTwoPivotPoints = (currentPoints, targetPoints, excludedPositions) => {
          const targetPointsMap = targetPoints.reduce((acc, point) => {
              acc[point.name] = point
              return acc
          }, {})
      Severity: Minor
      Found in src/solvers/ik/hexapodSolver.js - About 1 hr to fix

        Function simpleTwist has 28 lines of code (exceeds 25 allowed). Consider refactoring.
        Open

        const simpleTwist = groundLegsNoGravity => {
            const firstLeg = groundLegsNoGravity[0]
        
            const allSameAlpha = groundLegsNoGravity.every(
                leg => leg.pose.alpha === firstLeg.pose.alpha
        Severity: Minor
        Found in src/solvers/twistSolver.js - About 1 hr to fix

          Similar blocks of code found in 2 locations. Consider refactoring.
          Open

              get legDimensions() {
                  const { coxia, femur, tibia } = this.dimensions
                  return { coxia, femur, tibia }
              }
          Severity: Minor
          Found in src/VirtualHexapod.js and 1 other location - About 55 mins to fix
          src/VirtualHexapod.js on lines 233..236

          Duplicated Code

          Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

          Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

          When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

          Tuning

          This issue has a mass of 54.

          We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

          The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

          If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

          See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

          Refactorings

          Further Reading

          Similar blocks of code found in 2 locations. Consider refactoring.
          Open

          const vectorFromTo = (a, b) => new Vector(b.x - a.x, b.y - a.y, b.z - a.z)
          Severity: Minor
          Found in src/geometry.js and 1 other location - About 55 mins to fix
          src/geometry.js on lines 19..19

          Duplicated Code

          Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

          Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

          When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

          Tuning

          This issue has a mass of 54.

          We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

          The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

          If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

          See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

          Refactorings

          Further Reading

          Similar blocks of code found in 2 locations. Consider refactoring.
          Open

              get bodyDimensions() {
                  const { front, middle, side } = this.dimensions
                  return { front, middle, side }
              }
          Severity: Minor
          Found in src/VirtualHexapod.js and 1 other location - About 55 mins to fix
          src/VirtualHexapod.js on lines 238..241

          Duplicated Code

          Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

          Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

          When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

          Tuning

          This issue has a mass of 54.

          We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

          The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

          If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

          See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

          Refactorings

          Further Reading

          Similar blocks of code found in 2 locations. Consider refactoring.
          Open

          const addVectors = (a, b) => new Vector(a.x + b.x, a.y + b.y, a.z + b.z)
          Severity: Minor
          Found in src/geometry.js and 1 other location - About 55 mins to fix
          src/geometry.js on lines 15..15

          Duplicated Code

          Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

          Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

          When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

          Tuning

          This issue has a mass of 54.

          We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

          The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

          If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

          See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

          Refactorings

          Further Reading

          Function findTwoPivotPoints has a Cognitive Complexity of 10 (exceeds 6 allowed). Consider refactoring.
          Open

          const findTwoPivotPoints = (currentPoints, targetPoints, excludedPositions) => {
              const targetPointsMap = targetPoints.reduce((acc, point) => {
                  acc[point.name] = point
                  return acc
              }, {})
          Severity: Minor
          Found in src/solvers/ik/hexapodSolver.js - About 55 mins to fix

          Cognitive Complexity

          Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

          A method's cognitive complexity is based on a few simple rules:

          • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
          • Code is considered more complex for each "break in the linear flow of the code"
          • Code is considered more complex when "flow breaking structures are nested"

          Further reading

          Function mightTwist has a Cognitive Complexity of 8 (exceeds 6 allowed). Consider refactoring.
          Open

          const mightTwist = legsOnGround => {
              let negativeAlphaCount = 0
              let positiveAlphaCount = 0
          
              for (let i = 0; i < legsOnGround.length; i++) {
          Severity: Minor
          Found in src/solvers/twistSolver.js - About 35 mins to fix

          Cognitive Complexity

          Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

          A method's cognitive complexity is based on a few simple rules:

          • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
          • Code is considered more complex for each "break in the linear flow of the code"
          • Code is considered more complex when "flow breaking structures are nested"

          Further reading

          Avoid too many return statements within this function.
          Open

                  return this
          Severity: Major
          Found in src/solvers/ik/IKSolver.js - About 30 mins to fix

            Function constructor has a Cognitive Complexity of 7 (exceeds 6 allowed). Consider refactoring.
            Open

                constructor(
                    dimensions,
                    pose,
                    flags = { hasNoPoints: false, assumeKnownGroundPoints: false, wontRotate: false }
                ) {
            Severity: Minor
            Found in src/VirtualHexapod.js - About 25 mins to fix

            Cognitive Complexity

            Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

            A method's cognitive complexity is based on a few simple rules:

            • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
            • Code is considered more complex for each "break in the linear flow of the code"
            • Code is considered more complex when "flow breaking structures are nested"

            Further reading

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