#include "walkstraightto.ih"rf<Behavior::Goal> WalkStraightTo::generateGoal(unsigned step, unsigned slot){  d_committed = true;    _debugLevel4("WalkStraightTo::generateGoal " << step << " " << slot);  WorldModel& wm = WorldModel::getInstance();    rf<Goal> goal = new Goal();  rf<OrNode> dis = goal->addDisjunct();  rf<AndNode> con = dis->addConjunct();  Vector3D normal = wm.getFieldNormal();  double angle = 0.0;  con->addVar("Angle", angle, angle);  return goal;}