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mithi/hexapod-robot-simulator

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hexapod/ik_solver/ik_solver.py

Summary

Maintainability
B
5 hrs
Test Coverage

Function inverse_kinematics_update has a Cognitive Complexity of 34 (exceeds 6 allowed). Consider refactoring.
Confirmed

def inverse_kinematics_update(hexapod, ik_parameters):

    tx = ik_parameters["percent_x"] * hexapod.mid
    ty = ik_parameters["percent_y"] * hexapod.side
    tz = ik_parameters["percent_z"] * hexapod.tibia
Severity: Minor
Found in hexapod/ik_solver/ik_solver.py - About 4 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

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

            if d + hexapod.tibia < hexapod.femur:
                raise Exception(cant_reach_alert_msg(leg_name, "femur"))
Severity: Minor
Found in hexapod/ik_solver/ik_solver.py and 1 other location - About 30 mins to fix
hexapod/ik_solver/ik_solver.py on lines 135..136

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 32.

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

            if d + hexapod.femur < hexapod.tibia:
                raise Exception(cant_reach_alert_msg(leg_name, "tibia"))
Severity: Minor
Found in hexapod/ik_solver/ik_solver.py and 1 other location - About 30 mins to fix
hexapod/ik_solver/ik_solver.py on lines 133..134

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 32.

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

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