/* *  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: Sassan Haradji * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#include <SRPDribblePlan.h>#include <Logger.h>using namespace std;SRPDribblePlan::SRPDribblePlan(const WorldModel *wm, Form &form,		const Library &library) : Plan("SRPDribble", wm, form, library),		basicSRPDribble(new SRPDribble(wm)), finished(false), getVal(false){}SRPDribblePlan::~SRPDribblePlan(){	delete basicSRPDribble;}void SRPDribblePlan::decide(){	LOG << "SRPDribblePlan::decide" << endl;	if (!getVal || valSetCycle != wm->getCurCycle())		value = basicSRPDribble->getValue(library) - 20;	valSetCycle = wm->getCurCycle();	getVal = true;	basicSRPDribble->execute(form, library);	finished = true;	throw basicSRPDribble->getCommand();}double SRPDribblePlan::successRate(){	if (!getVal || valSetCycle != wm->getCurCycle())		value = basicSRPDribble->getValue(library) * 1.15 + 40;	valSetCycle = wm->getCurCycle();	getVal = true;	if (value < -200) return 0;	return value / 1000 + .2;}bool SRPDribblePlan::isFinished(){	if (wm->isBallKickable()) 		return finished;	return true;}