fix: Change destination_entity_ids type from list to set in path planning algorithms

Author: shima004

adf_core_python/core/component/module/algorithm/path_planning.py

@@ -38,7 +38,7 @@ def get_path(
 
     @abstractmethod
     def get_path_to_multiple_destinations(
-        self, from_entity_id: EntityID, destination_entity_ids: list[EntityID]
+        self, from_entity_id: EntityID, destination_entity_ids: set[EntityID]
     ) -> list[EntityID]:
         pass
 

adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py

@@ -78,7 +78,7 @@ def get_path(
         return entity_ids
 
     def get_path_to_multiple_destinations(
-        self, from_entity_id: EntityID, destination_entity_ids: list[EntityID]
+        self, from_entity_id: EntityID, destination_entity_ids: set[EntityID]
     ) -> list[EntityID]:
         arguments: dict[str, str] = {
             "From": str(from_entity_id.get_value()),

adf_core_python/implement/module/algorithm/a_star_path_planning.py

@@ -70,7 +70,7 @@ def get_path(
         return []
 
     def get_path_to_multiple_destinations(
-        self, from_entity_id: EntityID, destination_entity_ids: list[EntityID]
+        self, from_entity_id: EntityID, destination_entity_ids: set[EntityID]
     ) -> list[EntityID]:
         raise NotImplementedError
 

adf_core_python/implement/module/algorithm/dijkstra_path_planning.py

@@ -1,10 +1,8 @@
 from __future__ import annotations
 
 import heapq
-from typing import Dict, List, Tuple
 
 from rcrs_core.entities.area import Area
-from rcrs_core.entities.entity import Entity
 from rcrs_core.worldmodel.entityID import EntityID
 
 from adf_core_python.core.agent.develop.develop_data import DevelopData
@@ -27,7 +25,7 @@ def __init__(
         super().__init__(
             agent_info, world_info, scenario_info, module_manager, develop_data
         )
-        self.graph: Dict[EntityID, List[Tuple[EntityID, float]]] = {}
+        self.graph: dict[EntityID, list[tuple[EntityID, float]]] = {}
         # グラフの構築
         for area in self._world_info.get_entities_of_types([Area]):
             if not isinstance(area, Area):
@@ -49,7 +47,7 @@ def calculate(self) -> PathPlanning:
 
     def get_path(
         self, from_entity_id: EntityID, to_entity_id: EntityID
-    ) -> List[EntityID]:
+    ) -> list[EntityID]:
         # ダイクストラ法で最短経路を計算
         queue = []
         heapq.heappush(queue, (0, from_entity_id))
@@ -81,8 +79,8 @@ def get_path(
         return path[::-1]
 
     def get_path_to_multiple_destinations(
-        self, from_entity_id: EntityID, destination_entity_ids: List[EntityID]
-    ) -> List[EntityID]:
+        self, from_entity_id: EntityID, destination_entity_ids: set[EntityID]
+    ) -> list[EntityID]:
         open_list = [from_entity_id]
         ancestors = {from_entity_id: from_entity_id}
         found = False
@@ -124,7 +122,7 @@ def get_path_to_multiple_destinations(
 
         return path
 
-    def is_goal(self, entity_id: EntityID, target_ids: List[EntityID]) -> bool:
+    def is_goal(self, entity_id: EntityID, target_ids: set[EntityID]) -> bool:
         return entity_id in target_ids
 
     def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: