modelec/modelec-marcel-ROS
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closest zone rule

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This commit is contained in:
acki
2025-05-15 16:09:22 -04:00
parent 8559d6045a
commit b74b5bb8af
1 changed files with 2 additions and 2 deletions
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4
src/modelec_strat/src/navigation_helper.cpp
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@@ -412,7 +412,6 @@ namespace Modelec
std::shared_ptr<DepositeZone> NavigationHelper::GetClosestDepositeZone(
const PosMsg::SharedPtr& pos, int teamId, const std::vector<int>& blacklistedId)
{
// TODO : score
std::shared_ptr<DepositeZone> closest_zone = nullptr;
double score = std::numeric_limits<double>::max();
auto posPoint = Point(pos->x, pos->y, pos->theta);
@@ -423,7 +422,8 @@ namespace Modelec
if (zone->GetTeam() == teamId && zone->RemainingPotPos() > 0 && blacklistedId.end() == std::find(
blacklistedId.begin(), blacklistedId.end(), id))
{
double distance = Point::distance(posPoint, zone->GetPosition());
auto zonePoint = zone->GetNextPotPos().GetTakeBasePosition();
double distance = Point::distance(posPoint, zonePoint);
double enemy_distance = Point::distance(enemyPos, zone->GetPosition());
double s = distance + enemy_distance * factor_close_enemy_;
if (s < score)