#include "kickto.ih"Behavior::ConfidenceInterval KickTo::getCapability(rf<State> s, rf<Goal> g){  WorldModel& wm = WorldModel::getInstance();    NormalDistribution3D BallInfo = wm.getObjectPosition(Types::BALL);  Vector3D ballPosCar = BallInfo.getMu();  double ballX = ballPosCar.getX();  double ballY = ballPosCar.getY();  //bool leftTouch = wm.getLeftTouch();  //bool rightTouch = wm.getRightTouch();  // Distance from foot to ball (not from camera)  double distToBall = sqrt(ballX * ballX + ballY * ballY);    if (d_curStep >= 2 && (ballX < 0 || ballX > 2.0 || fabs(ballY) > 1.0))    return ConfidenceInterval(0.0, 0.0);      return distToBall <= 7.5 ? ConfidenceInterval(0.5, 0.2) : ConfidenceInterval(0.0, 0.0);}