2006-02-28  Xu Yuan  <xychn15@yahoo.com.cn>	* the parser (beta version):	- import/use the SFEXP library	- use the new parser in WorldModle and Formation	- the computation is about half of the old parser	* add some comments in the main.cpp and Parser.h and Parser.cpp	- "make doc" to generate the doxygen of the project	* released seu-3d-0.3.c2006-02-22  Xu Yuan  <xychn15@yahoo.com.cn>	* the new log system (beta version):	- if not need log system, remove all the log code using marco, this is more handiness	- the more effective log stream	- auto print the layer, but add LOGBEGIN in the begin of every function2006-02-12  Xu Yuan  <xychn15@yahoo.com.cn>	* the last version before RC2006 qualification	* the main change are follows:	- pass, Not only clear ball. But some time not so good.	- dribble, It is good when dribbling without deceleration, but the beginning is not good.	- formation, Not change much, still 3-5-2, but more suitable.2006-01-08  Xu Yuan  <xychn15@yahoo.com.cn>	* fixed BUG of calculateOffsideLine	* add TRAINING_MODE	- if define this macro, agent and trainer will be compiled into training binary	- either, the normally run binary	- it can be easily changed in these two modes by changing one line in Settings.	- and added PlayerTraining.cpp which contains some agent training functions2006-01-05  Xu Yuan  <xychn15@yahoo.com.cn>	* basic implemented check offside:	- can check all 22 player is offside	- but need test with trainer!	* add some "const" to make code more strong2006-01-03  Xu Yuan  <xychn15@yahoo.com.cn>	* basic implemented jointAction test matlab codes:	- added	-- matlab/jointAction/testFsngDribble.m	-- matlab/jointAction/testDUTturn.m	-- matlab/jointAction/testFsngCrossPass.m	-- matlab/share/getVel.m	-- matlab/share/loadBallData.m2006-01-02  Xu Yuan  <xychn15@yahoo.com.cn>	* import into CVS2005-12-30  Xu Yuan  <xychn15@yahoo.com.cn>	* advance Parser:	- change in parserNextInt and parserNextFloat	- using boost/lexical_cast2005-12-29  Xu Yuan  <xychn15@yahoo.com.cn>	* basic implement say action:	- add SayHear.h and SayHear.cpp	- but the hear messages from server seems strange,it may be a bug,I have report it.2005-12-28  Xu Yuan  <xychn15@yahoo.com.cn>	* change some compile files:	- src/Makefile.am converge	* modify commserver:	- fix a warnning,add output logs	2005-12-13  Xu Yuan  <xychn15@yahoo.com.cn>	* implemented commserver:	- remove the old commserver and lib of spades	- add ReadBuffFD.h and ReadBuffFD.cpp from spades/shared	-- this two files and the new commserver of agenttest can run smoothly	- now the network is also ok :)	* src/Makefile.am	- make some changes to suit the codes changing	- now the trainer is still using oxygen's parser	* set the version to seu-3d-0.2.a:	- update ChangeLog, NEWS, INSTALL, TODO2005-12-12  Xu Yuan  <xychn15@yahoo.com.cn>	* implemented parser:	- the parser can run correctly, 	- but when parsing some unexpected string, we skip just now	- it needs more testing!	2005-12-11  Xu Yuan  <xychn15@yahoo.com.cn>	* remove all codes which bind with lib of rcssserver3d:	- and just now for the server change, i decided to give up some codes which bind with lib of rcssserver3d	- after remove all the codes, i need a new parser	- and use Singleton instead of zeitgeist structure	- so, we no need the seu-3d-play.rb, and give up using ruby in our agent2005-12-04  Xu Yuan  <xychn15@yahoo.com.cn>	* add Joystick function:	- now, we can use a joystick to control an agent	- this function are copyed from RoboLog3D, thanks them!2005-12-01  Xu Yuan  <xychn15@yahoo.com.cn>	* 這些天一直在為AIGame2005作準(zhǔn)?	- 代碼已經(jīng)提交?比賽結(jié)果還不知道	- 這些天的調(diào)整已經(jīng)將能夠調(diào)整的調(diào)整?上層策略采用簡單的手工代碼	- 基本能夠參加比賽.與以前的代碼相比,實力已經(jīng)大大增強(qiáng)?基本能夠戰(zhàn)勝清華05全國賽代?	- 將AIGame2005作為一個milestone,將版本提高到0.2?2005-11-21  Xu Yuan  <xychn15@yahoo.com.cn>	* fix a bug in commserver!	- it has been changed in agenttest in rcssserver3d.0.3.go2005-11-21  Xu Yuan  <xychn15@yahoo.com.cn>	* basic implemented freedom	* modify BasicWorldModel's small bug: update myself in team	* advance defence:	- now, we use 5 Vs 11, results are follows:	- BrainStrom05 lost 0~2 goals	- Aria3d05JP lost 2 goals	- ZJUBase05CZ lost 1 goal	- WrightEagle2005CZ lost 1 goal	- it need more work, special in goalkeeper, and def-position2005-11-20  Xu Yuan  <xychn15@yahoo.com.cn>	* some changes in these days, preparing for AIGame2005:	- use GA to improve intercept and kickTo	- implemented clearBall and defendGoal	- but need more test.2005-11-10  Xu Yuan  <xychn15@yahoo.com.cn>	* modify intercept:	- but the effect is nothing!	- it may reach the geometry algorithm's best	- so, I will not spend more time on it.	- I will try other algorithm.	* implemented calculate ground kick force	- it use a physic formulation instead of loop in SEU-legend	- it works well.2005-11-08  Xu Yuan  <xychn15@yahoo.com.cn>	* modify class Action and ActionDeque	- add some new functions	- they are more easlier to ues	* implemented whenToKick	- the base version	- it return Actions,drive or kick or drive&kick2005-11-07  Xu Yuan  <xychn15@yahoo.com.cn>	* after GA:	- using GA to adapt var in projectDribbleTo	- it seems better, but not satistfy me!	* and do a S function in runTo:	- makes runTo better	: today we won the BrainStrom05!(1:0) haha	: but lose to ZJUBase05 and WrightEagle2005:(	: some thing need more advance2005-11-03  Xu Yuan  <xychn15@yahoo.com.cn>	* advance the test enviroment in Trainer:	- random set the ball and the PL	- reocrd the how much time the PL use when trying intercept ball2005-11-02  Xu Yuan  <xychn15@yahoo.com.cn>	* basic implement the test enviroment:	- it auto run and log	- but it is only the beginning, it needs more work.2005-10-30  Xu Yuan  <xychn15@yahoo.com.cn>	* basic implement projectDribbleTo	- use geometry algorithm:"ZhongChuiXian&QieRuYuan"	- it begins working, but need more adapt and test.2005-10-27  Xu Yuan  <xychn15@yahoo.com.cn>	* advanced intercept skill:	- fixed a bug in changeSpeed	- new a predictInterceptPos	+- the palyer's drive is considered	 - so the results will be more accurater	 - but, it needs more CPU time2005-10-25  Xu Yuan  <xychn15@yahoo.com.cn>	* advanced drive skill:	- these days, I try many ways to control the agent's drive	- it is lucky that we make improvmance of drive skill	- and two functions of drive skills are better than the PID algorithm	- ( perhaps it is not the wrong of PID, it need cut the whole run to dash and brake time,etc )	- they are runTo and driveTo	- howerver, runTo is simpler than driveTo	- and driveTo can get the time of drive	- so I will continue to test the time, and use it to improve the intercept.	+ today, we can win Caspain04 :) most 3 goals!	- so, set version to seu-3d-0.1.11.c72005-10-18  Xu Yuan  <xychn15@yahoo.com.cn>	* continue adapt the drive configure:	- i think the PID paramters can not be changed, it is its best	- the run position is more accurater	- but when distacnce is small, and velocity is small	- this algorithm's drive can not run fast, it takes too long time to accelerate!	- so, perhaps we need a new algorithm to adapt it.	* make the predict intercept ball fitter:	- fix a bug in isFastestOur in WorldModle	- change the some codes2005-10-17  Xu Yuan  <xychn15@yahoo.com.cn>	* adapt the drive configure:	- beaucse PID algorithm is uesed in drive;	- but the paramters is not satistfied!	- so, i modify these, and it took me more than 5 hours!	- it is better now, but i am not sure it is the best.2005-10-13  Xu Yuan  <xychn15@yahoo.com.cn>	* use NN in predict ball state:	- isGroundBall isFallOnGround	- this two use 6 inputs and i outputs, only 1 layer's neural network	- this two's results is better than the hand codes.	- but when trying to use NN in isBallStop, and 18 inputs, 2 layers	- the results is little better than before, so discard this one.2005-10-09  Xu Yuan  <xychn15@yahoo.com.cn>	* use NN in predict ball state:	- isGroundBall2005-10-08  Xu Yuan  <xychn15@yahoo.com.cn>	* import nn-utility tool:	- this is a neural network tool	- it can create and use NN easily	- and just now only a test NN was been created, but not well tested.2005-10-05  Xu Yuan  <xychn15@yahoo.com.cn>	* these days test many kinds of method -- to make accurater of ball'position and velocity	- it is better than before,it is just so.:(	- the results are: ( data in() when dist<5m)	- the average position error is about 0.1m(0.05m), and average velocity error is about 5m/s(3m/s)	- and the max position error is less than 0.5m(0.2m), and max velocity error is about 15m/s	- set version to seu-3d-0.1.10.c62005-10-02  Xu Yuan  <xychn15@yahoo.com.cn>	* rewrite the kalmanFilter:	- move the code kalmanFilter into AgentObject from BasicWorldModel.	* add some "const"		2005-10-01  Xu Yuan  <xychn15@yahoo.com.cn>	* complete the localization study:	- the last method is better than the earyer one	- the average position error is about 0.05m, and average velocity error is about 0.2m/s	- and the max position error is less than 0.2m, and max velocity error is about 1m/s	- so, update the version to seu-3d-0.1.9.c62005-09-27  Xu Yuan  <xychn15@yahoo.com.cn>	* fixed a bug in test m-code:	- beaucse of getVel's bug when time is the same	* write a newnewlocaliztion:	- this newnewlocaliztion is different form the newlocaliztion in order	- the "newnew" first use the vision message to get a weigthed position	- and then use the drive power to improve the weigthed position.	- it seems beeter than the "new", the average position error is about 0.05m.	- but the velocity is still too error:more than 0.5m/s2005-09-24  Xu Yuan  <xychn15@yahoo.com.cn>	* complete the matlab code for testing localization:	- make the m-files become one part of this project	- all uesed m-files contains in ./matlab directory.	- update the version to seu-3d-0.1.8.c6