/* *  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 <BasicDash.h>#include <AdvancedAgent.h>#include <BackToForwardPlan.h>#include <BackPlan.h>#include <MiddlePlan.h>#include <ForwardPlan.h>#include <Logger.h>#include <Basics.h>#include <cassert>using namespace std;using namespace Basics;BackToForwardPlan::BackToForwardPlan(const WorldModel *wm, Form &form,		const Library &library):Plan("BackToForward", wm, form, library){}BackToForwardPlan::~BackToForwardPlan(){}void BackToForwardPlan::decide(){	LOG << "BackToForwardPlan::decide" << endl;	Plan::decide();	startPlan(new BackPlan(wm, form, library));	startPlan(new MiddlePlan(wm, form, library));	startPlan(new ForwardPlan(wm, form, library));		LOG << "BackToForwardPlan Now Kill Program" << endl;	assert(0);}double BackToForwardPlan::successRate(){	return 1.0;}bool BackToForwardPlan::isFinished(){		if (wm->getBody().getPos().getX() <			config["Agent"]["PlanningSystem"]["GoalPlanX"].asFloat() - 2)		return false;	return true;}