Changing ImpactPointSearchTaskService to allow optional DesiredAction per the LMCP spec.
It previously forced the DesiredAction to be set and planned to the location in the DesiredAction. Changed to use the SearchLocation as a fallback when it is null.
Changing ImpactPointSearchTaskService to allow optional DesiredAction per the LMCP spec.
It previously forced the DesiredAction to be set and planned to the location in the DesiredAction. Changed to use the SearchLocation as a fallback when it is null.