/* *  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 <DribblePlan.h>#include <Logger.h>using namespace std;DribblePlan::DribblePlan(const WorldModel *wm, Form &form,			const Library &library) : Plan("Dribble", wm, form, library),			basicDribble(new Dribble(wm)), finished(false), getVal(false){}DribblePlan::~DribblePlan(){	delete basicDribble;}void DribblePlan::decide(){	LOG << "DribblePlan::decide" << endl;	if (!getVal || valSetCycle != wm->getCurCycle())		value = basicDribble->getValue(library) - 20;	valSetCycle = wm->getCurCycle();	getVal = true;	basicDribble->execute(form, library);	finished = true;	throw basicDribble->getCommand();}double DribblePlan::successRate(){	if (!getVal || valSetCycle != wm->getCurCycle())		value = basicDribble->getValue(library) - 20;	valSetCycle = wm->getCurCycle();	getVal = true;	if (value < -200) return 0;	return value / 1000 + .2;}bool DribblePlan::isFinished(){	if (wm->isBallKickable()) 		return finished;	return true;}