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mithi/hexapod

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Showing 12 of 19 total issues

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/hexapod/solvers/orient/orientSolverGeneral.js - About 2 hrs to fix

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/hexapod/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/hexapod/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/hexapod/solvers/ik/IKSolver.js - About 1 hr to fix

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

          toggleWalkMode = () => {
              const { gaitParams, isTripodGait } = this.state
              const inWalkMode = !this.state.inWalkMode
              this.setWalkSequence(gaitParams, isTripodGait, inWalkMode)
          }
      Severity: Major
      Found in src/components/pages/WalkingGaitsPage.js and 1 other location - About 1 hr to fix
      src/components/pages/WalkingGaitsPage.js on lines 132..136

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

          toggleGaitType = () => {
              const { gaitParams, inWalkMode } = this.state
              const isTripodGait = !this.state.isTripodGait
              this.setWalkSequence(gaitParams, isTripodGait, inWalkMode)
          }
      Severity: Major
      Found in src/components/pages/WalkingGaitsPage.js and 1 other location - About 1 hr to fix
      src/components/pages/WalkingGaitsPage.js on lines 126..130

      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/hexapod/solvers/ik/hexapodSolver.js - About 1 hr to fix

        Function handleChange has 29 lines of code (exceeds 25 allowed). Consider refactoring.
        Open

            handleChange(value) {
                const { minVal, maxVal, stepVal } = this.props.rangeParams
                const validity = this.myRef.current.validity
         
                if (validity.badInput) {
        Severity: Minor
        Found in src/components/generic/NumberInputField.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/hexapod/solvers/twistSolver.js - About 1 hr to fix

            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/hexapod/solvers/ik/hexapodSolver.js - About 55 mins to fix

            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/hexapod/solvers/twistSolver.js - About 35 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/hexapod/VirtualHexapod.js - About 25 mins to fix
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