/* *  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_STRAIGHT_POS_PLAN_H_#define __GOAL_STRAIGHT_POS_PLAN_H_#include <Plan.h>class GoalStraightPosPlan : public Plan{private:	float getProperAngle(float angle1, float angle2) const;	bool isAngleOK(float angle) const;	float getValueForPoint(const Point & point) ;	Vector  getBestVectorInFreeArea() ;	float  calculatePath(Vector moveDir, int numPoints, float decay);	void  turnToGoal();protected:  bool isInPenaltyArea(const Point &) const;	void setPassingPaths();	VirtualPass virtualPass;	std::map < std::pair<int,int>, float > passingPaths;public:	GoalStraightPosPlan(const WorldModel *wm, Form &form, const Library &library);	~GoalStraightPosPlan();	virtual void decide();	virtual double successRate();	virtual bool isFinished();        };#endif // __GOAL_POS_PLAN