void createDefaultSensorConfiguration()

in sensor_fusion_pkg/src/sensor_fusion_node.cpp [228:249]
22 lines of code
1 McCabe index (conditional complexity)

        void createDefaultSensorConfiguration(){
            sensorConfiguration_ = {
                {LIDAR_KEY, {
                    {LIDAR_CONFIG_MIN_LIDAR_ANGLE_KEY, DEFAULT_LIDAR_CONFIGURATION_MIN_LIDAR_ANGLE},
                    {LIDAR_CONFIG_MAX_LIDAR_ANGLE_KEY, DEFAULT_LIDAR_CONFIGURATION_MAX_LIDAR_ANGLE},
                    {LIDAR_CONFIG_MIN_LIDAR_DIST_KEY, DEFAULT_LIDAR_CONFIGURATION_MIN_LIDAR_DIST},
                    {LIDAR_CONFIG_MAX_LIDAR_DIST_KEY, DEFAULT_LIDAR_CONFIGURATION_MAX_LIDAR_DIST},
                    {LIDAR_CONFIG_LIDAR_CLIPPING_DIST_KEY, DEFAULT_LIDAR_CONFIGURATION_LIDAR_CLIPPING_DIST},
                    {LIDAR_CONFIG_NUM_LIDAR_VALUES_KEY, DEFAULT_LIDAR_CONFIGURATION_NUM_LIDAR_VALUES},
                    {LIDAR_CONFIG_NUM_LIDAR_SECTORS_KEY, DEFAULT_LIDAR_CONFIGURATION_NUM_LIDAR_SECTORS},
                    {LIDAR_CONFIG_PREPROCESS_TYPE_KEY, DEFAULT_LIDAR_CONFIGURATION_PREPROCESS_TYPE}}},
                {LIDAR_OVERLAY_KEY, {
                    {LIDAR_OVERLAY_CONFIG_MIN_LIDAR_ANGLE_KEY, DEFAULT_LIDAR_OVERLAY_CONFIGURATION_MIN_LIDAR_ANGLE},
                    {LIDAR_OVERLAY_CONFIG_MAX_LIDAR_ANGLE_KEY, DEFAULT_LIDAR_OVERLAY_CONFIGURATION_MAX_LIDAR_ANGLE},
                    {LIDAR_OVERLAY_CONFIG_MIN_LIDAR_DIST_KEY, DEFAULT_LIDAR_OVERLAY_CONFIGURATION_MIN_LIDAR_DIST},
                    {LIDAR_OVERLAY_CONFIG_MAX_LIDAR_DIST_KEY, DEFAULT_LIDAR_OVERLAY_CONFIGURATION_MAX_LIDAR_DIST},
                    {LIDAR_OVERLAY_CONFIG_NUM_LIDAR_VALUES_KEY, DEFAULT_LIDAR_OVERLAY_CONFIGURATION_NUM_LIDAR_VALUES},
                    {LIDAR_OVERLAY_CONFIG_NUM_LIDAR_SECTORS_KEY, DEFAULT_LIDAR_OVERLAY_CONFIGURATION_NUM_LIDAR_SECTORS},
                    {LIDAR_OVERLAY_CONFIG_LIDAR_OVERLAY_ALPHA_KEY, DEFAULT_LIDAR_OVERLAY_CONFIGURATION_LIDAR_OVERLAY_ALPHA},
                    {LIDAR_OVERLAY_CONFIG_LIDAR_OVERLAY_LINE_WIDTH_KEY, DEFAULT_LIDAR_OVERLAY_CONFIGURATION_LIDAR_OVERLAY_LINE_WIDTH},
                    {LIDAR_OVERLAY_CONFIG_LIDAR_OVERLAY_NUM_SECTORS_KEY, DEFAULT_LIDAR_OVERLAY_CONFIGURATION_LIDAR_OVERLAY_NUM_SECTORS}}}};
        }