/* *  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 __DRIBBLE_H#define __DRIBBLE_H#include <AdvancedAction.h>#define DRIBBLE_BLOCK_MAX_WEIGHT 60#define DRIBBLE_BLOCK_DIST_RATE 0.75#define DRIBBLE_BLOCK_DIR_RATE 0.25class Dribble : public AdvancedAction{protected:		void setDribbleArgumentsByOpponent();	void setAngleWeight(int targetCount);	void setCraudWeight(int targetCount);	void setTargetWeight(int targetCount);	void setDribbleTarget();	void setOpponentInWeight(float senceArea);		float isOpponent;		int opponentInSence;	int targetNums;	float targetAngles[40];	float targetWeights[40];	float cautionLength;	float angleWeightRate;	float craudWeightRate;	void setDribblePoints();	int bestDribblePoint();	bool checkDribbleTarget(int dribbleCount);	void setPathWithOpponentInSence(int dribbleCount,int opponentInSence);	Point setByPointInformation(float pointBodyAngle, float cautionDistance);	void setDribbleTarget(int dribbleCount);	float getInlineDribbleWeight(int dribbleCount, float senceArea);	float getBlockedWeight();	float getBodyCrossWeight();	float getPlayerBlockWeight(const Player &player);	bool ballInOppKickable();	Command *dribbleCommand;	Point dribbleTargets[11];	Point dribblePoints[12];	Point virtualDribblePoints[12];	Point dribblePoint;	Ball checkTargetBall;	Body checkTargetBody;	Point dribbleTarget;	Point idealDribbleTarget;		float dribbleWeights[12];	float kickPower[12];	int virtualWeight[12];	float angle[12];	float noise1[12];	float noise2[12];	float dashPower[12];	float maxDist[12];	int cycleNums[12];	float kickableNoise[12];	float angleNoise[12];public:	Dribble(const WorldModel *worldModel);	virtual ~Dribble();	virtual void execute(Form &form, const Library &library);	virtual float getValue(const Library &library);};class DribblePath{protected :	int bestDribbleTarget;		void setAngleWeight(int targetCount);	void setCraudWeight(int targetCount);	void setTargetWeight(int targetCount);	void setDribbleTarget();		float isOpponent;		Point beginPoint;	Point dribbleTarget;		int targetNums;	float targetAngles[40];	float targetWeights[40];	float cautionLength;	float angleWeightRate;	float xRate;	float craudWeightRate;	const WorldModel *worldModel;	public :	DribblePath(const WorldModel *worldModel);	void setDefaultParams();	void setPathParams(int targetNumsArg, float cautionLengthArg,					float angleWeightRateArg, float craudWeightRateArg,					float xRateArg);	void setBeginPoint(Point beginPointArg);	float getBestTargetWeight();	float getTargetWeight(int targetCount);	float getBestTargetDir();};#endif // __DRIBBLE_H