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fix(crane_physics): 単一ロボット割当でコストを無視してtarget0を固定する不具合を修正 #1385

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fix(crane_physics): 単一ロボット割当でコストを無視してtarget0を固定する不具合を修正 #1385

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24 changes: 22 additions & 2 deletions utility/crane_physics/include/crane_physics/position_assignments.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -221,7 +221,17 @@ inline auto getOptimalAssignments(
return {};
}
if (robot_positions.size() == 1) {
return {0};
// ターゲットが複数ある場合、最近傍のターゲットを選択する
int best_index = 0;
double best_distance = bg::distance(robot_positions[0], targets[0]);
for (size_t j = 1; j < targets.size(); ++j) {
const double d = bg::distance(robot_positions[0], targets[j]);
if (d < best_distance) {
best_distance = d;
best_index = static_cast<int>(j);
}
}
return {best_index};
}

// Hungarianアルゴリズムは行数 >= 列数を要求するため、
Expand Down Expand Up @@ -277,7 +287,17 @@ inline auto getOptimalAssignmentsWithCost(
return {};
}
if (num_robots == 1) {
return {0};
// ターゲットが複数ある場合、最小コストのターゲットを選択する
int best_index = 0;
double best_cost = cost_func(0, 0);
for (size_t j = 1; j < num_targets; ++j) {
const double c = cost_func(0, j);
if (c < best_cost) {
best_cost = c;
best_index = static_cast<int>(j);
}
}
return {best_index};
}

// Hungarianアルゴリズムは行数 >= 列数を要求するため、
Expand Down
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