?? getcapability.cc
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#include "canturnleft.ih"Behavior::ConfidenceInterval CanTurnLeft::getCapability(rf<Behavior::State> s, rf<Behavior::Goal> g){ rf<StateVarNode> angleNode = rf_cast<StateVarNode>(g->findDeep("Angle")); if (!angleNode) { _debugLevel1("CanTurnLeft doesn't understand!"); return ConfidenceInterval(-1.0, 0.0); } StateVar angleVar = angleNode->getVar(); double angle = angleVar.second.mean(); _debugLevel4("Angle: " << angle); //WorldModel& wm = WorldModel::getInstance(); if (angle < 0)// || !wm.onMyFeet()) { _debugLevel3("Can't turn left"); return ConfidenceInterval(-1.0, 0.0); } //cout << "TurnLeft" << endl; _debugLevel4("Can turn left"); return ConfidenceInterval(0.8, 0.0);}
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