/* *  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: Darioush Jalali, Mohammad Salehe * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#ifndef __GOAL_PLAN_H_#define __GOAL_PLAN_H_#include <Plan.h>#include <vector>#include <string>class GoalPlan : public Plan{public:	GoalPlan(const WorldModel *wm, Form &form, const Library &library);	~GoalPlan();	virtual void decide();	virtual double successRate();	virtual bool isFinished();protected:	std::vector <float> passClasses;	void startPassPlanWithPriorities(const std::vector<float>& classes, const std::vector<std::string>& priorities, bool tryDribble = true);	unsigned findBestShooter(std::string inPlayers);	std::pair<float,float> getWeights(const Player * );	float getProperAngle(float angle1, float angle2) const;private:	};#endif // __GOAL_PLAN_H_