/* *  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 <DefBreakerPlan.h>#include <DribblePlan.h>#include <SRPDribblePlan.h>#include <Basics.h>#include <Logger.h>#include <cassert>using namespace std;using namespace Basics;DefBreakerPlan::DefBreakerPlan(const WorldModel *wm, Form &form,		const Library &library): Plan("DefBreaker", wm, form, library),		srpDribblePlan(new SRPDribblePlan(wm, form, library)),		passPlan(new PassPlan(wm, form, library, BPM_BREAKOFFSIDE + BPM_OFFENSE,				BPN_ALL, -45, +45, -90, +90)),		shootPlan(new ShootPlan(wm, form, library)),		xInTwoLastCycle(0), xInLastCycle(0){}DefBreakerPlan::~DefBreakerPlan(){	delete srpDribblePlan;	delete shootPlan;	delete passPlan;}void DefBreakerPlan::decide(){	LOG << "DefBreakerPlan::decide" << endl;	Plan::decide();		bestPlan(3, false, srpDribblePlan, passPlan, shootPlan)->decide();	LOG << "DefenseBreaker Plan WARNING!!! : "			<< "All WithBall Plans Finished Without Return Any Command." << endl;	LOG << "DefenseBreaker Plan : "			<< "Now Run Dribble Plan Without Check SuccessRate or isFinished"			<< "(Urgent State)." << endl;	DribblePlan dribblePlan(wm, form, library);	dribblePlan.decide();	LOG << "DefBreakerPlan Now Kill Program" << endl;	assert(0);}double DefBreakerPlan::successRate(){	if (!wm->isBallKickable()) return 0;	return bestPlan(3, false, srpDribblePlan, passPlan,			shootPlan)->successRate();// +//			library.breakExperiment;}bool DefBreakerPlan::isFinished(){	if (!wm->isBallKickable()) return true;	if (wm->getBody().getPos().getX() >= xInTwoLastCycle + 1)		return false;	xInTwoLastCycle = xInLastCycle;	xInLastCycle = wm->getBody().getPos().getX();//	if (finished == true && wm->getBody().getPos().getX() <//			wm->getOppDefenseMedium().x + 3)//		form.setBreakExperiment = library.breakExperiment - .002;//	else//		form.setBreakExperiment = library.breakExperiment + .01;	return true;}