/* *  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 __SAY_DECISION_H#define __SAY_DECISION_H#include <WorldModel.h>#define RELATED_PLAYER_X_RANGE 47.5#define RELATED_PLAYER_Y_RANGE 30struct SayDecisionForm{	bool doRoutinSay;	bool beforePassSay;	bool suggestPassSay;	float passDir;	float passSpeed;	float passWeight;	unsigned passPlayerNum;	unsigned interceptNum;	unsigned attentionNum;	bool freeKickSay;	int freeKickAdviceNumber;	unsigned planStatus;	unsigned gwInterceptNum;	unsigned gwAttentionNum;	bool planSay;	std::string planHeader;	std::string planInfo;	bool radarSay;	int radarPlayersNum;	int ids[3];	Vector radarPlayers[3];	SayDecisionForm();	void reset();};class Command;class SayDecision{	const WorldModel *worldModel;	Command *sayCommand;	Command *attentionCommand;public:	SayDecision(const WorldModel *worldModel);	~SayDecision();	bool getSayRoutinBallPermission(const SayDecisionForm &sayForm);	void saySuggestPass(const SayDecisionForm &sayForm);	void sayBeforePass(const Command *bodyCycleCommand, const SayDecisionForm &sayForm);	void sayBeforePassRelated(const Command *bodyCycleCommand, const SayDecisionForm &sayForm);	void sayRoutinBall(const Command *bodyCycleCommand, const SayDecisionForm &sayForm);	void sayFreeKick(const SayDecisionForm &sayForm);	void sayPlan(const SayDecisionForm &sayForm);	void sayRadar(const SayDecisionForm &sayForm);	void decide(const Command *bodyCycleCommand,			SayDecisionForm &sayForm);	Command *getSayCommand();	Command *getAttentionCommand();};#endif // __SAY_DECISION_H