#include "scriptplayer.ih"rf<Behavior::Goal> ScriptPlayer::generateGoal(unsigned step, unsigned slot){  d_committed = true;    vector<pair<double, double> > scriptLine = d_script[d_curLine];  rf<Goal> goal = new Goal();  rf<OrNode> dis = goal->addDisjunct();  rf<AndNode> con = dis->addConjunct();  //  _debugLevel4("Angle for slot " << slot << ": " << scriptLine[slot].first << " (now: " << wm.getJointAngle((Types::Joint)slot).getMu() << ")");  con->addVar("Angle", scriptLine[slot].first, scriptLine[slot].first);  con->addVar("MaxSpeed", scriptLine[slot].second, scriptLine[slot].second);    return goal;}