#ifndef REACTIVE_STATE_H#define REACTIVE_STATE_H#include <math.h>#include "RobotSkill.h"class ReactiveState {   public:      ReactiveState(RobotAction *robot);      bool reactiveFreeBump(RobotSkill::Pos& goal);      bool reactiveFreeGradient(RobotSkill::Pos& goal);      bool requestReleaseTag();      void update(rescue_free_bump_message);      void update(rescue_free_gradient_message);       void update(rescue_rfid_deploy_message msg);      void updateRFIDSensor(rescue_rfid_sensor_message msg);   private:      bool RFIDTagDetectionAtCurrentPos();   private:      RobotAction* _robot;      RobotSkill::Pos _bumpGoal;      RobotSkill::Pos _gradientGoal;       bool _bump;      bool _gradient;      struct timeval _gradient_time;      bool _rfidReq;      RobotSkill::Pos _lastRFIDPos;      bool _lastRFIDPosValid;      vector<long> _lastRFIDTags;      bool _nearRfid;      struct timeval _nearRfidTime; };#endif/********************************************************************* * (C) Copyright 2006 Albert Ludwigs University Freiburg *     Institute of Computer Science * * All rights reserved. Use of this software is permitted for * non-commercial research purposes, and it may be copied only * for that use. All copies must include this copyright message. * This software is made available AS IS, and neither the authors * nor the Albert Ludwigs University Freiburg make any warranty * about the software or its performance. *********************************************************************/