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Fix search target selection to use path planning distance #163

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Merged
shima004 merged 1 commit into from
Oct 16, 2026
Merged

Fix search target selection to use path planning distance #163

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13 changes: 8 additions & 5 deletions src/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py
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Original file line number Diff line number Diff line change
Expand Up @@ -73,13 +73,16 @@ def update_info(self, message_manager: MessageManager) -> Search:
return self

def calculate(self) -> Search:
position = self._agent_info.get_position_entity_id()
if position is None:
self._result = None
return self

nearest_building_id: Optional[EntityID] = None
nearest_distance: Optional[float] = None
nearest_distance = float("inf")
for building_id in self._unreached_building_ids:
distance = self._world_info.get_distance(
self._agent_info.get_entity_id(), building_id
)
if nearest_distance is None or distance < nearest_distance:
distance = self._path_planning.get_distance(position, building_id)
if distance < nearest_distance:
nearest_building_id = building_id
nearest_distance = distance
self._result = nearest_building_id
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13 changes: 8 additions & 5 deletions src/adf_core_python/implement/module/complex/default_search.py
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Original file line number Diff line number Diff line change
Expand Up @@ -73,13 +73,16 @@ def update_info(self, message_manager: MessageManager) -> Search:
return self

def calculate(self) -> Search:
position = self._agent_info.get_position_entity_id()
if position is None:
self._result = None
return self

nearest_building_id: Optional[EntityID] = None
nearest_distance: Optional[float] = None
nearest_distance = float("inf")
for building_id in self._unreached_building_ids:
distance = self._world_info.get_distance(
self._agent_info.get_entity_id(), building_id
)
if nearest_distance is None or distance < nearest_distance:
distance = self._path_planning.get_distance(position, building_id)
if distance < nearest_distance:
nearest_building_id = building_id
nearest_distance = distance
self._result = nearest_building_id
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