/* *  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 <Block.h>#include <Tackle.h>#include <Defense.h>#include <Offense.h>#include <Intercept.h>#include <GoaliePositioning.h>#include <WithoutBallPlayOnDecision.h>#include <AdvancedAgent.h>#include <cassert>#define TACKLE_NUM 0#define BLOCK_NUM 1#define DEFENSE_NUM 2#define OFFENSE_NUM 3#define DRIBBLE_INTERCEPT_NUM 4#define INTERCEPT_NUM 5WithoutBallPlayOnDecision::WithoutBallPlayOnDecision(		const WorldModel *worldModel):		BodyDecision(worldModel){	addAdvancedAction(new Tackle(worldModel),		AdvancedActionWeights(0, 1, 1), 2);	addAdvancedAction(new Block(worldModel),		AdvancedActionWeights(0, 1, 1), 2);	addAdvancedAction(new Defense(worldModel),		AdvancedActionWeights(0, 1, 1), 1);	addAdvancedAction(new Offense(worldModel),		AdvancedActionWeights(0, 1, 1), 1);	addAdvancedAction(new DribbleIntercept(worldModel),		AdvancedActionWeights(0, 1, 1), 2);	addAdvancedAction(new Intercept(worldModel),		AdvancedActionWeights(0, 1, 1), 1);}WithoutBallPlayOnDecision::~WithoutBallPlayOnDecision(){}void WithoutBallPlayOnDecision::decide(int quickLevel,		WithoutBallSelection selection,	Form &form, const Library &library){	resetQuickLevels();	quickLevels[TACKLE_NUM] = 2;	switch (selection)	{	case WOBS_BLOCK:		quickLevels[DEFENSE_NUM] = 1;		quickLevels[BLOCK_NUM] = 2;		form.headForm.tnMode = TNM_AUTO_PLAY_ON;		break;	case WOBS_INTERCEPT:		quickLevels[INTERCEPT_NUM] = 1;		if (library.lastBodyCycleCommand->getCreator() == AT_DRIBBLE ||			library.lastBodyCycleCommand->getCreator() == AT_SRPDRIBBLE ||			library.lastBodyCycleCommand->getCreator() == AT_DRIBBLE_INTERCEPT)			quickLevels[DRIBBLE_INTERCEPT_NUM] = 2;		form.headForm.tnMode = TNM_AUTO_PLAY_ON;		break;	case WOBS_OFFENSE:		quickLevels[DEFENSE_NUM] = 1; // Maybe Temporary		form.headForm.tnMode = TNM_AUTO_PLAY_ON;		break;	case WOBS_DEFENSE:		quickLevels[DEFENSE_NUM] = 1;		form.headForm.tnMode = TNM_AUTO_PLAY_ON;		break;	case WOBS_POSITIONING:	case WOBS_LOOKFORBALL:		assert(0);	}	BodyDecision::decide(quickLevel, form, library);}