/* *  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 __ADVANCED_AGENT_H#define __ADVANCED_AGENT_H#include <GroupWorks.h>#include <Positioning.h>#include <SyncedAgent.h>#include <SayDecision.h>#include <BodyDecision.h>#include <HeadDecision.h>#include <PointToDecision.h>#include <PenaltyDecision.h>#include <NonPlayOnDecision.h>#include <GoaliePlayOnDecision.h>#include <WithBallPlayOnDecision.h>#include <WithoutBallPlayOnDecision.h>#include <StatelessPlan.h>#include <RootPlan.h>#ifndef NULL#	define NULL 0#endif // NULLclass Form{public:	SayDecisionForm sayForm;	HeadDecisionForm headForm;	float setBreakExperiment;		unsigned setCycle;		Form();	void reset();};class Library{protected:public:	int quickLevel;	float breakExperiment;	PassLibrary pass;	Positioning positioning;	WithoutBallSelection gwSelection;	Command *lastBodyCycleCommand;	Library(const WorldModel *worldModel);};class RadarSystem{protected:	const WorldModel *worldModel;	const Player *saids[3];	const Player *sayings[3];	int saidsNum;	int sayingsNum;	int anglesNum;	float anglesList[FULL_PLAYERS_NUM + HALF_PLAYERS_NUM];	const Player *angPlayers[FULL_PLAYERS_NUM + HALF_PLAYERS_NUM];	bool isSaid(const Player &player);	int semiRandom;	int lastUpdateTime;	const Player *lastTargetPlayer;public:	RadarSystem(const WorldModel *worldModel);	void sender(Form &form, const Library &library);	void receiver(Form &form, const Library &library);};class AdvancedAgent: public SyncedAgent{public:	AdvancedAgent(int argc, char **argv);	virtual ~AdvancedAgent();protected:	StatelessPlan *statelessPlan;	RootPlan *rootPlan;	GroupWorks groupWorks;	SayDecision sayDecision;	HeadDecision headDecision;	PointToDecision pointToDecision;	Form form;	Library library;	RadarSystem radar;	virtual void senseBody(const SExpression &exp);	virtual void see(const SExpression &exp);	virtual void hear(const SExpression &exp);	virtual void sayDecide();	virtual void headDecide();	virtual void pointToDecide();	virtual bool bodyDecide(int quickLevel);};#endif // __ADVANCED_AGENT_H