diff --git a/src/rj_strategy/src/agent/position/offense.cpp b/src/rj_strategy/src/agent/position/offense.cpp index 461aa21dd0..c431cc4fbd 100644 --- a/src/rj_strategy/src/agent/position/offense.cpp +++ b/src/rj_strategy/src/agent/position/offense.cpp @@ -163,12 +163,13 @@ std::optional Offense::state_to_task(RobotIntent intent) { case SEEKING_START: { // Calculate a new seeking point - + seeker_.reset_target(); seeker_.set_seeker_points(seeker_points_); std::optional actual_intent = seeker_.get_task(std::move(intent), last_world_state_, field_dimensions_); - //SPDLOG_INFO("HI {} {}", seeker_.get_target_point().x(), seeker_.get_target_point().y()); + // SPDLOG_INFO("HI {} {}", seeker_.get_target_point().x(), + // seeker_.get_target_point().y()); seeker_points_[seeker_.get_robot_id()] = seeker_.get_target_point(); broadcast_seeker_request(seeker_.get_target_point(), true); return actual_intent; diff --git a/src/rj_strategy/src/agent/position/seeker.cpp b/src/rj_strategy/src/agent/position/seeker.cpp index 38875fc377..a4ce36c4c4 100644 --- a/src/rj_strategy/src/agent/position/seeker.cpp +++ b/src/rj_strategy/src/agent/position/seeker.cpp @@ -197,7 +197,7 @@ double Seeker::eval_point(rj_geometry::Point ball_pos, rj_geometry::Point curren // communication) Heuristic to penalize being close to other seekers (a small minimum distance)s double min_seeker_dist = std::numeric_limits::infinity(); for (const auto& [key, value] : seeker_points_) { - //SPDLOG_INFO("key {} px {} py {}", key, value.x(), value.y()); + // SPDLOG_INFO("key {} px {} py {}", key, value.x(), value.y()); min_seeker_dist = std::min(min_seeker_dist, current_point.dist_to(value)); } const double seeker_dist_loss = 0.3 * 1 / min_seeker_dist;