/* *  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 *  and is modified by: Sassan Haradji * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#ifndef __SAY_ENCODING_H#define __SAY_ENCODING_H#include <string>#include <Vector.h>#include <vector>#ifndef NULL#	define NULL 0#endif // NULL#define SAY_UPPER_CASE_NUM 35 // BECAREFUL if sayCodeKey is changed.class SayEncoding{public:	SayEncoding();	static std::string sayCodeKey;	static unsigned getCharNum(char ch);	static void encodeObjectPosition(float x, float y, std::string &code);	static void decodeObjectPosition(const std::string &code,			unsigned codePtr, float &x, float &y);	static void encodeObjectVelocity(float magnitude, float direction, 			std::string &code);	static void decodeObjectVelocity(const std::string &code,			unsigned codePtr, float &magnitude, float &direction);	static void encodeWeight(float weight, float start,			float end, std::string &code);	static void decodeWeight(const std::string &code,			unsigned codePtr, float &weight, float start, float end);	static void encodeWMSend(std::vector<Vector> positions,			std::string &code);	static void decodeWMSend(const std::string &code,			std::vector<Vector> &positions);	static void encodeRadarObject(unsigned id, float magnitude,			float direction, std::string &code);	static void decodeRadarObject(const std::string &code,			unsigned codePtr, unsigned &id, float &magnitude, float &direction);};#endif // __SAY_ENCODING_H