\param strMsg message that should be parsed    \return bool indicating whether the message was parsed correctly. */bool SenseHandler::analyzeSeeGlobalMessage( char *strMsg ){  Log.logWithTime( 2, " incoming see global message" );  strcpy( WM->strLastSeeMessage, strMsg );  ObjectT o;  bool    isGoalie;  double  dX, dY, dVelX, dVelY;  int     iTime;  AngDeg  angBody, angNeck;  Time    time = WM->getCurrentTime();  iTime = Parse::parseFirstInt( &strMsg );         // get the time  time.updateTime( iTime );  while( *strMsg != ')' )                          // " ((objname.." or ")"  {    dX = dY = dVelX = dVelY = UnknownDoubleValue;    angBody = angNeck = UnknownAngleValue;    strMsg += 2;          // go the start of the object name    // get the object type at the current position in the string    o = SoccerTypes::getObjectFromStr( &strMsg, &isGoalie, WM->getTeamName() );    if( o == OBJECT_ILLEGAL )    {      Log.log( 4, "Illegal object" );      Log.log( 4, "total messages: %s", WM->strLastSeeMessage );      Log.log( 4, "rest of message: %s", strMsg );    }    dX = Parse::parseFirstDouble( &strMsg );        // parse first value    dY = Parse::parseFirstDouble( &strMsg );        // parse second value    if ( *strMsg != ')' )                           // if it was no flag    {      dVelX = Parse::parseFirstDouble( &strMsg );   // parse delta x      dVelY = Parse::parseFirstDouble( &strMsg );   // parse delta y      if( *strMsg != ')' )                          // stil not finished      {                                             // get body and neck angle        angBody = Parse::parseFirstDouble( &strMsg );        angNeck = Parse::parseFirstDouble( &strMsg );      }    }    // skip ending bracket of object information.    strMsg++;    // process the parsed information (unread values are Unknown...)    WM->processSeeGlobalInfo( o, time, VecPosition(dX,dY),                    VecPosition(dVelX,dVelY), angBody, angNeck );    }  WM->setTimeLastSeeGlobalMessage( time );  // set time last see global message  return true;}/*! This method analyzes a sense message. All information from the player is    parsed and updated in the WorldModel.    A sense message looks like (sense_body 0 (view_mode high normal)    (stamina 2000 1) (speed 0 0) (head_angle 0) (kick 0) (dash 0)    (turn 0) (say 0) (turn_neck 0) (catch 0) (move 0) (change_view 0))    \param strMsg message that should be parsed    \return bool indicating whether the message was parsed correctly. */bool SenseHandler::analyzeSenseMessage( char *strMsg ){  setTimeSignal();                            // set signal when to send action  strcpy( WM->strLastSenseMessage, strMsg );   if( WM->getRelativeDistance( OBJECT_BALL ) < SS->getVisibleDistance() )    Log.logWithTime( 560, "%s", WM->strLastSenseMessage );  int iTime = Parse::parseFirstInt( &strMsg );// get time  Time timeOld = WM->getCurrentTime();  Time timeNew = timeOld;  timeNew.updateTime( iTime );  if( timeNew.getTimeDifference( timeOld ) > 1 )    Log.log( 1, "Missed a sense!!" );  Log.logWithTime ( 2, "\n\nSENSE (%d, %d)", timeNew.getTime(),  timeNew.getTimeStopped() );  Log.restartTimer( );  Log.logWithTime ( 2, " alarm after %d", iTimeSignal );  strMsg++;                                      // go to ( before view_mode  Parse::gotoFirstOccurenceOf( ' ', &strMsg );   // skip view_mode  strMsg++;                                      // skip space  ViewQualityT vq = SoccerTypes::getViewQualityFromStr( strMsg ); // get quality  Parse::gotoFirstOccurenceOf( ' ', &strMsg );  strMsg++;                                      // skip space; get view_angle  ViewAngleT va = SoccerTypes::getViewAngleFromStr( strMsg );  double dStamina = Parse::parseFirstDouble( &strMsg );  // get stamina  double dEffort  = Parse::parseFirstDouble( &strMsg );  // get effort  double dSpeed   = Parse::parseFirstDouble( &strMsg );  // get speed  AngDeg angSpeed = Parse::parseFirstDouble( &strMsg );  // get speed ang  // minus sign since we store angle between neck and body and not vice versa  int iHeadAngle = - Parse::parseFirstInt( &strMsg );    // get head_angle  WM->processNewAgentInfo( vq, va, dStamina, dEffort, dSpeed,        (AngDeg) angSpeed, (AngDeg)iHeadAngle );  // set all number of performed commands  WM->setNrOfCommands( CMD_KICK       , Parse::parseFirstInt( &strMsg ) );  WM->setNrOfCommands( CMD_DASH       , Parse::parseFirstInt( &strMsg ) );  WM->setNrOfCommands( CMD_TURN       , Parse::parseFirstInt( &strMsg ) );  WM->setNrOfCommands( CMD_SAY        , Parse::parseFirstInt( &strMsg ) );  WM->setNrOfCommands( CMD_TURNNECK   , Parse::parseFirstInt( &strMsg ) );  WM->setNrOfCommands( CMD_CATCH      , Parse::parseFirstInt( &strMsg ) );  WM->setNrOfCommands( CMD_MOVE       , Parse::parseFirstInt( &strMsg ) );  WM->setNrOfCommands( CMD_CHANGEVIEW , Parse::parseFirstInt( &strMsg ) );  WM->setTimeLastSenseMessage( timeNew ); // set the time  Log.logWithTime( 2, " end analyzing sense" );  return true;}/*! This method analyzes an init message. All information from the    initialization is parsed and updated in the WorldModel.    An init message looks like (init [l|r] 10 before_kick_off)    \param strMsg message that should be parsed    \return bool indicating whether the message was parsed correctly. */bool SenseHandler::analyzeInitMessage( char *strMsg ){  strMsg += 6;                                            // go to Side  WM->setSide( SoccerTypes::getSideFromStr( strMsg ) );   // get and set Side  int nr = Parse::parseFirstInt( &strMsg );               // get and set number  if( nr == 0 )                                           // coach  {     WM->setPlayerNumber( nr );     return true;  }  WM->setAgentObjectType( SoccerTypes::getTeammateObjectFromIndex( nr - 1 ) );  WM->setPlayerNumber( nr );  strMsg++;                                               // skip space to pm  WM->setPlayMode( SoccerTypes::getPlayModeFromStr( strMsg ) ); // get playmode  return true;}/*! This method analyzes a hear message. When the message is from the referee    the message is parsed and the new play mode is set or the goal difference is    adjusted. When the message comes from another player the method    analyzePlayerMessage is called    A hear message looks like (hear 0 self|referee|dir message)    \param strMsg message that should be parsed    \return bool indicating whether the message was parsed correctly. */bool SenseHandler::analyzeHearMessage( char *strMsg ){  RefereeMessageT rm;  PlayModeT       pm;  strcpy( WM->strLastHearMessage, strMsg);  Parse::parseFirstInt( &strMsg );                          // ignore time  Time time = WM->getCurrentTime();  switch( Parse::gotoFirstNonSpace( &strMsg ) )  {    case 'r':                                               // referee      WM->setTimeLastRefereeMessage( time );      Parse::gotoFirstOccurenceOf( ' ', &strMsg );          // go to start      Parse::gotoFirstNonSpace   ( &strMsg      );          // and first part      rm = SoccerTypes::getRefereeMessageFromStr( strMsg ); // get the ref msg      Log.logWithTime( 2, " referee message: %s %s",      SoccerTypes::getRefereeMessageStr(rm), WM->strLastHearMessage);      pm = SoccerTypes::getPlayModeFromRefereeMessage( rm );// get play mode      if( pm != PM_ILLEGAL )                                // from ref msg        WM->setPlayMode( pm );                              // if was pm, set it      switch( rm )      {        case REFC_GOAL_LEFT:                            // goal left          if( WM->getSide() == SIDE_LEFT )            WM->addOneToGoalDiff();          else            WM->subtractOneFromGoalDiff();          WM->processSeeGlobalInfo( OBJECT_BALL, time, VecPosition( 0, 0 ),               VecPosition( 0, 0 ), 0, 0 );          break;        case REFC_GOAL_RIGHT:                      // goal right          if( WM->getSide() == SIDE_RIGHT )            WM->addOneToGoalDiff();          else            WM->subtractOneFromGoalDiff();          WM->processSeeGlobalInfo( OBJECT_BALL, time, VecPosition( 0, 0 ),               VecPosition( 0, 0 ), 0, 0 );          break;        case REFC_GOALIE_CATCH_BALL_LEFT:         // catch ball        case REFC_GOALIE_CATCH_BALL_RIGHT:          WM->processCatchedBall( rm, time );          break;        case REFC_PENALTY_ONFIELD_LEFT:          WM->setSidePenalty( SIDE_LEFT );          break;        case REFC_PENALTY_ONFIELD_RIGHT:          WM->setSidePenalty( SIDE_RIGHT );          break;        case REFC_PENALTY_MISS_LEFT:        case REFC_PENALTY_SCORE_LEFT:          WM->setPlayMode( PM_FROZEN );          break;        case REFC_PENALTY_MISS_RIGHT:        case REFC_PENALTY_SCORE_RIGHT:          WM->setPlayMode( PM_FROZEN );                   break;        case REFC_PENALTY_FOUL_LEFT:        case REFC_PENALTY_FOUL_RIGHT:        default:          break;      }      break;    case 'o':                                               // online_coach_        break;    case 's':                                               // self      break;                                                // do nothing    default:                                                // from direction        Log.logWithTime( 600, "incoming hear: %s", WM->strLastHearMessage );        analyzePlayerMessage( strMsg );    // from player      break;  }  return true;}/*! This message analyzes an incoming communication message. Messages from    opponents are discarded. First it is checked whether the message arrived    from a teammate using a specific encoding string and then the contents    are parsed and stored in the world model, which will process it when it    updates the world model. */bool SenseHandler::analyzePlayerMessage( char *strMsg ){  Parse::gotoFirstNonSpace( &strMsg );            // skip space    if( WM->getPlayerNumber() == 0 )                // if i am coach    return false;                                 //   skip message  if( strlen( strMsg ) < 2 || strMsg[0] == 'o' )  // skip message since no dir.    return false;                                 // thus no content  Parse::parseFirstInt( &strMsg );                // skip direction  Parse::gotoFirstNonSpace( &strMsg );            // skip space    if( strlen( strMsg ) < 2 || strMsg[1] == 'p' )  // skip message when from opp    return false;                                   int iPlayer = Parse::parseFirstInt( &strMsg );  // get player number  Parse::gotoFirstNonSpace( &strMsg );            // skip space    strMsg++;                                       // skip " (=quote)  if( strlen( strMsg ) < 4 )              // < 2 + two ending charactres ")    return false;  WM->storePlayerMessage( iPlayer, strMsg, WM->getCurrentCycle() );  return true;}/*! This method analyzes the check_ball message that is only received by the