#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);}