/* *  Little Green BATS (2007), AI department, University of Groningen * *  Authors: 	Martin Klomp (martin@ai.rug.nl) *		Mart van de Sanden (vdsanden@ai.rug.nl) *		Sander van Dijk (sgdijk@ai.rug.nl) *		A. Bram Neijt (bneijt@gmail.com) *		Matthijs Platje (mplatje@gmail.com) * *	All students of AI at the University of Groningen *  at the time of writing. See: http://www.ai.rug.nl/ * *  Date: 	July 27, 2007 * *  Website:	http://www.littlegreenbats.nl * *  Comment:	Please feel free to contact us if you have any  *		problems or questions about the code. * * *  License: 	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; either version 3 of the License, or (at  *		your option) any later version. * *   		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 General Public *		License for more details. * *   		You should have received a copy of the GNU General *		Public License along with this program; if not, write *		to the Free Software Foundation, Inc., 59 Temple Place -  *		Suite 330, Boston, MA  02111-1307, USA. * */#ifndef _BATS_SINE_HH_#define _BATS_SINE_HH_#include "behavior.hh"namespace bats{  class Sine : public Behavior  {  public:    struct Params    {      double amplitude;      double period;      double phase;      double offset;    };      private:    std::vector<std::vector<Params> > d_params;		double d_startupTime;		double d_shutdownTime;				double d_startTime;				double d_factor;    double d_lastTime;    		    double calcAngle(std::vector<Params>& params, double startTime);        virtual rf<Goal> generateGoal(unsigned step, unsigned slot);    virtual rf<State> getCurrentState() { return 0; }    virtual ConfidenceInterval getCapability(rf<State> s, rf<Goal> g) { return ConfidenceInterval(0.5, 0.2); }    static std::string s_lastSineID;    static std::vector<std::vector<Params> > s_lastParams;        /// Last time at which the previous Sine behavior ran. Saved for transition purposes/*    static double s_lastTime;    static double s_lastStartTime;    static double s_lastStopTime;*/        /// Last time any Sine behavior ran. Used to determine if there was a Sine at all    static double s_lastSineTime;        static double s_transitionTime;        static std::vector<rf<Sine> > s_sines;    static double s_lastUpdate;      public:    Sine(std::string const &id, std::string const &playerClass);        void updateFactor(double dTime, bool startup = false);    double getFactor() { return d_factor; }        std::vector<std::vector<Params> > getParams() { return d_params; }        double getStartTime() { return d_startTime; }        void reset();    void update();  };};#endif