public void GoToLocation()

in IndoorSceneSynthesis/ConstraintStochasticIndoorSceneGeneration/Custom/CustomScripts/Algorithms/AlfredAgent.cs [748:879]
99 lines of code
24 McCabe index (conditional complexity)

    public void GoToLocation(Vector3 targetLocation, int frameStart = 0, string saveImageFolder = "Assets/Custom/Screenshots/", bool finalLookUp = false) {
        //actionList.Clear();

        while (viewAngle < 0) {
            viewAngle++;
            actionList.Add(LowLevelActionType.LookUp);
        }

        //get shortest path
        Vector3 currentLocation = PhysicsController.gameObject.transform.position;
        Node startNode = navigationGraph.GetNearestNode(currentLocation);
        Node endNode = navigationGraph.GetNearestNode(targetLocation);

        navigationGraph.GetShortestPath(startNode, endNode);
        Algorithm.Path path = navigationGraph.m_Paths[0];
        //        foreach (Node node in path.nodes) {
        ////#if UNITY_EDITOR
        ////            GameObject _road_sign = (GameObject)AssetDatabase.LoadAssetAtPath("Assets/Custom/Debug/road_sign.prefab", typeof(GameObject));
        ////            var go = Instantiate(_road_sign, node.node_position, Quaternion.identity);
        ////#endif
        //        }

        //Follow path
        int agentRotation = GetControllerRotation();
        for (int i = 0; i < path.nodes.Count - 1; ++i) {
            Vector3 currentPos = path.nodes[i].node_position;
            Vector3 nextPos = path.nodes[i + 1].node_position;
            {
                int targetRotation = path.GetPathDirectionAtIndex(i);
                int rotationIdxV = ((targetRotation - agentRotation) % 4 + 4) % 4;
                //Debug.Log(i + "agentrotation targetrot: " + agentRotation + " " + targetRotation + " " + rotationIdxV);
                if (rotationIdxV % 4 == 3) {
                    actionList.Add(LowLevelActionType.RotateLeft);
                } else if (rotationIdxV == 2) {
                    if (UnityEngine.Random.Range(0f, 1f) < 0.5f) {
                        actionList.Add(LowLevelActionType.RotateRight);
                        actionList.Add(LowLevelActionType.RotateRight);
                    } else {
                        actionList.Add(LowLevelActionType.RotateLeft);
                        actionList.Add(LowLevelActionType.RotateLeft);
                    }
                } else if (rotationIdxV % 4 == 1) {
                    actionList.Add(LowLevelActionType.RotateRight);
                }

                agentRotation = targetRotation;
                actionList.Add(LowLevelActionType.MoveAhead);
            }
        }

        //look at target
        Vector3 agentLocation = path.nodes[path.nodes.Count - 1].node_position;
        float diffX = targetLocation.x - agentLocation.x;
        float diffZ = targetLocation.z - agentLocation.z;

        int targetRotationF = 0;
        if (Mathf.Abs(diffX) > Mathf.Abs(diffZ)) {
            if (diffX > 0)
                targetRotationF = 1;
            else
                targetRotationF = -1;
        } else {
            if (diffZ > 0)
                targetRotationF = 0;
            else
                targetRotationF = 2;
        }

        int rotationIdx = ((targetRotationF - agentRotation) % 4 + 4) % 4;
        if (rotationIdx % 4 == 3) {
            actionList.Add(LowLevelActionType.RotateLeft);
        } else if (rotationIdx == 2) {
            if (UnityEngine.Random.Range(0f, 1f) < 0.5f) {
                actionList.Add(LowLevelActionType.RotateRight);
                actionList.Add(LowLevelActionType.RotateRight);
            } else {
                actionList.Add(LowLevelActionType.RotateLeft);
                actionList.Add(LowLevelActionType.RotateLeft);
            }
        } else if (rotationIdx % 4 == 1) {
            actionList.Add(LowLevelActionType.RotateRight);
        }

        agentRotation = targetRotationF;

        //TODO: horizon adjust
        //if (targetLocation.y < 0.9f) {
        //    actionList.Add(LowLevelActionType.LookDown);
        //    viewAngle--;
        //}
        if (targetLocation.y < 0.6f && !finalLookUp) {
            actionList.Add(LowLevelActionType.LookDown);
            viewAngle--;
        }

        if (finalLookUp) {
            actionList.Add(LowLevelActionType.LookUp);
            actionList.Add(LowLevelActionType.LookUp);
            viewAngle += 2 ;
        }


        // execute action
        foreach (LowLevelActionType actionL in actionList) {
            //Debug.Log("---------------LowLevelAction----------------" + actionL.ToString());
            switch (actionL) {
                case LowLevelActionType.MoveAhead:
                    MoveAhead();
                    break;
                case LowLevelActionType.RotateLeft:
                    RotateLeft();
                    break;
                case LowLevelActionType.RotateRight:
                    RotateRight();
                    break;
                case LowLevelActionType.LookUp:
                    LookUp();
                    break;
                case LowLevelActionType.LookDown:
                    LookDown();
                    break;
                default:
                    Debug.LogError("Unknow navigation action");
                    break;
            }

            if (frameStart > 0) {
                //render frame
                RecordFrame(frameStart++, saveImageFolder);
            }
        }
    }