/* *  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.*/#include <Degree.h>#include <Logger.h>#include <Basics.h>#include <Command.h>#include <PointToDecision.h>using namespace std;// class PointToDecisionPointToDecision::PointToDecision(const WorldModel *worldModel):		worldModel(worldModel){}PointToDecision::~PointToDecision(){}void PointToDecision::decide(const Command *headCycleCommand){	LOG << "PointToDecision::decide" << endl;	float maxSenseStamina;	if (worldModel->getPlayMode() == PM_PLAY_ON)		maxSenseStamina = 2500;	else		maxSenseStamina = 3850;	if (worldModel->getBody().getArmMovable() != 0)	{		pointToCommand = new EmptyCommand(AT_POINTTO_DECISION);		return;	}	if (worldModel->getBody().getStamina() > maxSenseStamina)	{		if (worldModel->getBody().getArmExpires())			pointToCommand = new PointToCommand(AT_POINTTO_DECISION, false);		else			pointToCommand = new EmptyCommand(AT_POINTTO_DECISION);	}	else	{		float dist = 1000;		float dir = Basics::reRate(worldModel->getBody().getStamina(),				1000, maxSenseStamina, 0, 270, RRM_DIRECT);		dir = Degree::getDeltaAngle(dir, worldModel->getBody().getHeadDir());		pointToCommand = new PointToCommand(AT_POINTTO_DECISION, dist, dir);	}}Command *PointToDecision::getPointToCommand(){	return pointToCommand;}