/* *  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: Ahmad Boorghany * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#ifndef __VIRTUAL_PASS_H#define __VIRTUAL_PASS_H#include <Pass.h>#include <KickCalculate.h>#define VIRTUAL_KICK_DIR_STEP 7.50#define VIRTUAL_KICK_DIR_NUM (unsigned)(360 / VIRTUAL_KICK_DIR_STEP)#define VIRTUAL_KICK_VEL_NUM 4#define VIRTUAL_KICK_CALCULATES_NUM (unsigned) \		(VIRTUAL_KICK_DIR_NUM * VIRTUAL_KICK_VEL_NUM)class WorldModel;class VirtualKickInterceptCalculate: public KickInterceptCalculate{public:	virtual ~VirtualKickInterceptCalculate();	void init(const WorldModel *worldModel,		const Ball &nextBall, const Vector &ballVel,		InterceptCalculate &interCalc);};class VirtualKickCalculate: public KickCalculate{public:	virtual ~VirtualKickCalculate();	void init();	void update(const WorldModel *worldModel, const Player &kickPlayer);};class VirtualCrossCalculate: public CrossCalculate{public:	virtual ~VirtualCrossCalculate();	void init();	void update(const WorldModel *worldModel, const Player &kickPlayer);};class VirtualPass: public Pass{protected:	VirtualKickCalculate virtualKickCalc;	unsigned lastUpdate;public:	VirtualPass(const WorldModel *worldModel);	float getValue(const Player &kickPlayer);	void manager(Form &form, const Library &library);};#endif // __VIRTUAL_PASS_H