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Fix Code Style On seeker_robot_dist #2460

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Merged
Squid5678 merged 1 commit into from
Nov 19, 2025
Merged

Fix Code Style On seeker_robot_dist #2460

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5 changes: 3 additions & 2 deletions src/rj_strategy/src/agent/position/offense.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -163,12 +163,13 @@ std::optional<RobotIntent> 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<RobotIntent> 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;
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2 changes: 1 addition & 1 deletion src/rj_strategy/src/agent/position/seeker.cpp
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Expand Up @@ -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<double>::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;
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