/* *  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 <PassPlan.h>#include <AdvancedAgent.h>#include <Logger.h>#include <string>using namespace std;PassPlan::PassPlan(const WorldModel *wm, Form &form, const Library &library,		unsigned models, unsigned number, float passAngleFrom, float passAngleTo,		float playerAngleFrom, float playerAngleTo):		Plan("Pass", wm, form, library),		exactPass(library.pass.getTheBestPass(models, number,		passAngleFrom, passAngleTo, playerAngleFrom, playerAngleTo)),		finished(false){}PassPlan::~PassPlan(){}void PassPlan::decide(){	LOG << "PassPlan::decide" << endl;	finished = true;	throw library.pass.execute(exactPass, form, library);}double PassPlan::successRate(){	float value = exactPass.weight + 5;	if (value < -200) return 0;	if (exactPass.model == PAM_NONE) return 0;	return value / 1000 + .2;}bool PassPlan::isFinished(){	if (wm->isBallKickable()) 		return finished;	return true;}