/* *  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, Sassan Haradji * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#include <ClearPlan.h>#include <Logger.h>using namespace std;ClearPlan::ClearPlan(const WorldModel *wm, Form &form,			const Library &library) : Plan("Clear", wm, form, library),			basicClear(new Clear(wm)), finished(false), getVal(false){}ClearPlan::~ClearPlan(){	delete basicClear;}void ClearPlan::decide(){	LOG << "ClearPlan::decide" << endl;	if (!getVal || valSetCycle != wm->getCurCycle())		value = basicClear->getValue(library) - 20;	valSetCycle = wm->getCurCycle();	getVal = true;	basicClear->execute(form, library);	finished = true;	throw basicClear->getCommand();}double ClearPlan::successRate(){	if (!getVal || valSetCycle != wm->getCurCycle())		value = basicClear->getValue(library);	valSetCycle = wm->getCurCycle();	getVal = true;	if (value == AD_ALWAYS_RUN_VALUE)		return 1.0;	return 0.0;}bool ClearPlan::isFinished(){	if (!wm->isBallKickable())		return true;	return finished;}