coach. It sets the information in the Worldmodel what the status of the    ball is.    The format is as follows (check_ball <time> <status>).    \param strMsg string that contains the check_ball message    \return bool indicating whether update succeeded. */bool SenseHandler::analyzeCheckBall( char *strMsg ){  WM->setTimeCheckBall( Parse::parseFirstInt( &strMsg ) );  strMsg++;  WM->setCheckBallStatus( SoccerTypes::getBallStatusFromStr( strMsg ) );  return true;}/*! This method analyzes the change player type message. This method checks    whether the player that changed type equals the agent. When this is the    case, it adjust the ServerSettings according to the values associated    with this player type.    \param strMsg string that contains the player type message.    \return bool indicating whether player type of agent changed. */bool SenseHandler::analyzeChangePlayerTypeMessage( char *strMsg ){  int iPlayer = Parse::parseFirstInt( &strMsg );  if( *strMsg != ')' && WM->getPlayerNumber() == iPlayer )  {    int iPlayerType = Parse::parseFirstInt( &strMsg );    return WM->updateSSToHeteroPlayerType( iPlayerType );  }  return false;}/*! This method analyzes the server_param message. This message contains all    the server parameters. All settings of the ServerSettings are changed    according to the supplied values. This makes the reading from a server    configuration file obsolete.    \param strMsg string message with all the server parameters    \return booli indicating whether string was parsed. */bool SenseHandler::analyzeServerParamMessage( char *strMsg ){//  cout << strMsg << endl;  readServerParam( "goal_width",               strMsg );  readServerParam( "player_size",              strMsg );  readServerParam( "player_decay",             strMsg );  readServerParam( "player_rand",              strMsg );  readServerParam( "player_weight",            strMsg );  readServerParam( "player_speed_max",         strMsg );  readServerParam( "player_accel_max",         strMsg );  readServerParam( "stamina_max",              strMsg );  readServerParam( "stamina_inc_max",          strMsg );  readServerParam( "recover_dec_thr",          strMsg );  readServerParam( "recover_min",              strMsg );  readServerParam( "recover_dec",              strMsg );  readServerParam( "effort_dec_thr",           strMsg );  readServerParam( "effort_min",               strMsg );  readServerParam( "effort_dec",               strMsg );  readServerParam( "effort_inc_thr",           strMsg );  readServerParam( "effort_inc",               strMsg );  readServerParam( "kick_rand",                strMsg );  readServerParam( "ball_size",                strMsg );  readServerParam( "ball_decay",               strMsg );  readServerParam( "ball_rand",                strMsg );  readServerParam( "ball_weight",              strMsg );  readServerParam( "ball_speed_max",           strMsg );  readServerParam( "ball_accel_max",           strMsg );  readServerParam( "dash_power_rate",          strMsg );  readServerParam( "kick_power_rate",          strMsg );  readServerParam( "kickable_margin",          strMsg );  readServerParam( "catch_probability",        strMsg );  readServerParam( "catchable_area_l",         strMsg );  readServerParam( "catchable_area_w",         strMsg );  readServerParam( "goalie_max_moves",         strMsg );  readServerParam( "maxpower",                 strMsg );  readServerParam( "minpower",                 strMsg );  readServerParam( "maxmoment",                strMsg );  readServerParam( "minmoment",                strMsg );  readServerParam( "maxneckmoment",            strMsg );  readServerParam( "minneckmoment",            strMsg );  readServerParam( "maxneckang",               strMsg );  readServerParam( "minneckang",               strMsg );  readServerParam( "visible_angle",            strMsg );  readServerParam( "visible_distance",         strMsg );  readServerParam( "audio_cut_dist",           strMsg );  readServerParam( "quantize_step",            strMsg );  readServerParam( "quantize_step_l",          strMsg );  readServerParam( "ckick_margin",             strMsg );  readServerParam( "wind_dir",                 strMsg );  readServerParam( "wind_force",               strMsg );  readServerParam( "wind_rand",                strMsg );  readServerParam( "wind_random",              strMsg );  readServerParam( "inertia_moment",           strMsg );  readServerParam( "half_time",                strMsg );  readServerParam( "drop_ball_time",           strMsg );  readServerParam( "port",                     strMsg );  readServerParam( "coach_port",               strMsg );  readServerParam( "olcoach_port",             strMsg );  readServerParam( "say_coach_cnt_max",        strMsg );  readServerParam( "say_coach_msg_size",       strMsg );  readServerParam( "simulator_step",           strMsg );  readServerParam( "send_step",                strMsg );  readServerParam( "recv_step",                strMsg );  readServerParam( "sense_body_step",          strMsg );  readServerParam( "say_msg_size",             strMsg );  readServerParam( "clang_win_size",           strMsg );  readServerParam( "clang_define_win",         strMsg );  readServerParam( "clang_meta_win",           strMsg );  readServerParam( "clang_advice_win",         strMsg );  readServerParam( "clang_info_win",           strMsg );  readServerParam( "clang_mess_delay",         strMsg );  readServerParam( "clang_mess_per_cycle",     strMsg );  readServerParam( "hear_max",                 strMsg );  readServerParam( "hear_inc",                 strMsg );  readServerParam( "hear_decay",               strMsg );  readServerParam( "catch_ban_cycle",          strMsg );  readServerParam( "send_vi_step",             strMsg );  readServerParam( "use_offside",              strMsg );  readServerParam( "offside_active_area_size", strMsg );  readServerParam( "forbid_kick_off_offside",  strMsg );  readServerParam( "verbose",                  strMsg );  readServerParam( "offside_kick_margin",      strMsg );  readServerParam( "slow_down_factor",         strMsg );  readServerParam( "synch_mode",               strMsg );  readServerParam( "fullstate_l",              strMsg );  readServerParam( "fullstate_r",              strMsg );  readServerParam( "pen_dist_x",               strMsg );  readServerParam( "pen_max_goalie_dist_x",    strMsg );  readServerParam( "pen_allow_mult_kicks",     strMsg );  readServerParam( "tackle_dist",              strMsg );  readServerParam( "tackle_back_dist",         strMsg );  readServerParam( "tackle_width",             strMsg );  readServerParam( "tackle_cycles",            strMsg );  readServerParam( "tackle_power_rate",        strMsg );  readServerParam( "tackle_exponent",          strMsg );  SS->setMaximalKickDist      ( SS->getKickableMargin() +                                SS->getPlayerSize()     +                                SS->getBallSize()          );  SS->setMaximalKickDist      ( SS->getKickableMargin() +                                SS->getPlayerSize()     +                                SS->getBallSize()          );  return true;}/*! This methods reads in the server param denoted by the string 'strParam'.    This string is searched for in the string 'strMsg' and the value that is    located immediately after it is parsed and used to set the associated    variable in the ServerSettings class.    \param strParam string representation of server parameter to read    \param strMsg server_param message containing all server parameters with    associated values    \return bool indicating whether server parameter was read */bool SenseHandler::readServerParam( char *strParam, char *strMsg ){  char strFormat[128];  char strValue[128] = "";  sprintf( strValue, "none" );  sprintf( strFormat, "%s ", strParam );        // add space after parameters  char *str = strstr( strMsg, strFormat );      // and find param definition  sprintf( strFormat, "%s %%[^)]", strParam );  // read till closing bracket  if( str == NULL )  {    cerr << "(SenseHandler::readServerParam) error finding " << strParam <<endl;    return false;  }  int ret = sscanf( str, strFormat, strValue ); // read in values  if( ret == 1 )    SS->setValue( strParam, strValue );  else    cerr << "(SenseHandler::readServerParam) error reading " << strParam <<endl;  return (ret == 1 ) ? true : false ;}/*! This method analyze a player type message. This message contains the    values associated with a specific heterogeneous player type. The values    are parsed from the message and supplied to the WorldModel method    processNewHeteroPlayer.    \param strMsg string that contains the player type information    \return bool indicating whether the message was parsed correctly. */bool SenseHandler::analyzePlayerTypeMessage ( char *strMsg ){// cerr << strMsg << endl;  // analyze all heterogeneous player information  int    iIndex           = Parse::parseFirstInt( &strMsg );  double dPlayerSpeedMax  = Parse::parseFirstDouble( &strMsg );  double dStaminaIncMax   = Parse::parseFirstDouble( &strMsg );  double dPlayerDecay     = Parse::parseFirstDouble( &strMsg );  double dInertiaMoment   = Parse::parseFirstDouble( &strMsg );  double dDashPowerRate   = Parse::parseFirstDouble( &strMsg );  double dPlayerSize      = Parse::parseFirstDouble( &strMsg );  double dKickableMargin  = Parse::parseFirstDouble( &strMsg );  double dKickRand        = Parse::parseFirstDouble( &strMsg );  double dExtraStamina    = Parse::parseFirstDouble( &strMsg );  double dEffortMax       = Parse::parseFirstDouble( &strMsg );  double dEffortMin       = Parse::parseFirstDouble( &strMsg );  WM->processNewHeteroPlayer( iIndex, dPlayerSpeedMax, dStaminaIncMax,      dPlayerDecay,    dInertiaMoment, dDashPowerRate, dPlayerSize,      dKickableMargin, dKickRand,      dExtraStamina,  dEffortMax,      dEffortMin );  return true;}/*! This method analyzes the player_param message that indicates the ranges of    the possible values for the heterogeneous player types. Nothing is done    with this information.    \param strMsg string that contains the player_param message.    \bool will always be true. */bool SenseHandler::analyzePlayerParamMessage( char *strMsg ){// cerr << strMsg << endl;  readServerParam( "player_types",                     strMsg );  readServerParam( "subs_max",                         strMsg );  readServerParam( "player_speed_max_delta_min",       strMsg );  readServerParam( "player_speed_max_delta_max",       strMsg );  readServerParam( "stamina_inc_max_delta_factor",     strMsg );  readServerParam( "player_decay_delta_min",           strMsg );  readServerParam( "player_decay_delta_max",           strMsg );  readServerParam( "inertia_moment_delta_factor",      strMsg );  readServerParam( "dash_power_rate_delta_min",        strMsg );  readServerParam( "dash_power_rate_delta_max",        strMsg );  readServerParam( "player_size_delta_factor",         strMsg );  readServerParam( "kickable_margin_delta_min",        strMsg );  readServerParam( "kickable_margin_delta_max",        strMsg );  readServerParam( "kick_rand_delta_factor",           strMsg );  readServerParam( "extra_stamina_delta_min",          strMsg );  readServerParam( "extra_stamina_delta_max",          strMsg );  readServerParam( "effort_max_delta_factor",          strMsg );  readServerParam( "effort_min_delta_factor",          strMsg );  readServerParam( "new_dash_power_rate_delta_min",    strMsg );  readServerParam( "new_dash_power_rate_delta_max",    strMsg );  readServerParam( "new_stamina_inc_max_delta_factor", strMsg );  return true;}/******************************************************************************//********************** TESTING PURPOSES **************************************//******************************************************************************//*int main( void ){  Connection c( "localhost", 6000 );  WorldModel wm;  SenseHandler i( &c,  &wm );  i.analyzeMessage( "(see 0 ((g r) 64.1 13) ((f r t) 65.4 -16) ((f r b) 79 38) ((f p r t) 46.1 -6) ((f p r c) 48.4 18) ((f p r b) 58 37) ((f g r t) 62.8 7) ((f g r b) 66 19) ((f t r 20) 38.5 -38) ((f t r 30) 46.5 -30) ((f t r 40) 55.7 -25) ((f t r 50) 64.7 -21) ((f b r 50) 80.6 41) ((f r t 30) 69.4 -12) ((f r t 20) 67.4 -4) ((f r t 10) 67.4 4) ((f r 0) 69.4 12) ((f r b 10) 72.2 20) ((f r b 20) 75.9 27) ((f r b 30) 81.5 33) ((l r) 62.8 -89))" );   cout << "2" << endl;  i.analyzeMessage( "(see 0 ((g l) 49.9 -24) ((f l t) 50.9 14) ((f p l t) 31.5 1 0 0) ((f p l c) 34.5 -33) ((f g l t) 47.9 -17) ((f g l b) 52.5 -32) ((f t l 50) 50.9 20) ((f t l 40) 42.5 26) ((f t l 30) 34.8 36) ((f l t 30) 54.6 8) ((f l t 20) 53 -2) ((f l t 10) 53 -12) ((f l 0) 54.6 -23) ((f l b 10) 58 -32) ((f l b 20) 62.8 -41) ((p \"l\" 2) 5 -7 0 0 172 172) ((l l) 47.9 82))" );  c.disconnect();  cout << "exit" << endl ;}*/