/* *  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: Arash Rahimi, Sassan Haradji * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#ifndef __PLAN_H_#define __PLAN_H_#include <stack>#include <vector>#include <string>#include <GroupWorks.h>#include <WorldModel.h>#define THRESHOLD .06class Form;class Library;class Plan{public:	Plan (std::string name, const WorldModel *wm, Form &form,			const Library &library);	virtual ~Plan();	virtual bool isFinished();	virtual double successRate();	virtual void decide();	std::string getName();	void setName(std::string n);	double getThreshold();	void setThreshold(double);	bool tryPlan(Plan *plan, double threshold = THRESHOLD);	bool startPlan(Plan *plan, double threshold = THRESHOLD);	void resetPlans();	Plan* bestPlan(int num, bool deletePlans, ...);	Plan* bestPlan(std::vector<Plan *> &plans, bool deletePlans = true);	Plan* bestPlan(std::vector<Plan *> &plans, std::vector<float> addedSuccessRates,			bool deletePlans = true);protected:	const Library &library;	Form &form;	std::stack <Plan *>  subPlans;	double threshold;	const WorldModel *wm;	std::string name;	unsigned planLogLevel;};#endif // __PLAN_H_