/* *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET). * *  This program is free software, you can redistribute it and/or modify *  it under the terms of the GNU General Public License as published by *  the Free Software Foundation. * *  This program is distributed in the hope that it will be useful, *  but WITHOUT ANY WARRANTY; without even the implied warranty of *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *  GNU Library General Public License for more details. **  This file is created by: Meisam Vosoughpour * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#ifndef __INTERCEPT_H#define __INTERCEPT_H#include <AdvancedAction.h>#define WAIT_FOR_BALL_CYCLES 3#define MAX_POSITIVE_DASH_CYCLES 200#define MAX_NEGATIVE_DASH_CYCLES 5#define MAX_GTB_POINTS_NUM 100#define MAX_GTB_CHECKED_TIME 300class DribbleIntercept: public AdvancedAction{protected:	Command *dashCommand;public:	DribbleIntercept(const WorldModel *worldModel);	virtual void execute(Form &form, const Library &library);	virtual float getValue(const Library &library);};class Intercept: public AdvancedAction{	int bestGTBPointNumber;	int gtbPointsNumber;	float gtbTime[MAX_GTB_POINTS_NUM];	float minBallDistance[MAX_GTB_POINTS_NUM];	float extraGTBTime[MAX_GTB_POINTS_NUM];	float distToBegin[MAX_GTB_POINTS_NUM];	float gtbPointWeight[MAX_GTB_POINTS_NUM];	int gtbStatus[MAX_GTB_POINTS_NUM];	float mainGtbTime[MAX_GTB_POINTS_NUM];	Point gtbPoint[MAX_GTB_POINTS_NUM];	Command *gtbCommand[MAX_GTB_POINTS_NUM];public:	Intercept(const WorldModel *worldModel);	virtual void execute(Form &form, const Library &library);	virtual float getValue(const Library &library);};#endif // __INTERCEPT_H