#ifndef ROBOT_SKILL_H#define ROBOT_SKILL_H#include <vector>#include "Action.h"#include "RobotAction.h"#include "VFHState.h"#include "msg_types.h"#include "RFIDAction.h"using namespace std;class RobotSkill : public Action{   public:      struct Point {         double x, z;      };      struct Pos {         struct timeval timeStamp;  /* timestamp */         double x, z, th;           /* position */         double tVel;               /* translational velocity */         double rVel;               /* rotational velocity */      };      enum TAG_DEPLOY_STATE {         INIT_TAG_DEPLOY,         DEPLOY_TAG,         WAIT_FOR_ACK,         END_TAG_DEPLOY      };      RobotAction *robot;      RFIDAction *rfidA;   public:      void update(rescue_path_message &msg);      void updateVictimRFID(bool ackState);      void updateRangeScanRanges(rescue_rangescan_ranges_message &msg);      RobotSkill(bool useKalmanPoses, bool simulationMode);      ~RobotSkill() {};      bool ActionStop();      bool ActionJoystick();      bool ActionFollowPath(bool init, VFHState* vfh);      bool ActionReachGoal(bool init, Pos goal, VFHState* vfh,bool angle=false);      bool ActionReachGoalWithObstacles(bool init, Pos goal, VFHState* vfh);      bool ActionBestAngleFreeFromStall(bool init, VFHState* vfhState);      bool ActionRandomFreeFromStall(bool init, VFHState* vfhState);      bool ActionWaitForVictimAck(bool init);      bool ActionFreeGradient(RobotSkill::Pos goal);      int getBaffsEstimate();      bool VictimRFIDWaitRequired();      void setVictimWait();	bool robotInStall(int bumps);      void setReachedDist(double d){REACHED_DIST=d;}   protected:      double distanceRobotToPoint(double x, double z);      double angleRobotToPoint(double x, double z);   private:       int getBestDir(Pos goal, VFHState* vfhState);      vector<Pos> _path;      vector<long> _lastRFIDTags;      void adjustPathToRobotPos();      struct timeval _activePercetionTimeout;      struct timeval _co2StartTime;      struct timeval _tagDeployStartTime;      Pos _lastRFIDPos;      bool _lastRFIDPosValid;      int _lastActivePerception;      double _angleBeforeTurn;      bool _turnAroundSecondHalf;     bool _activePerceptionDone;      bool _initActivePerception;      bool _victimAck;      Pos _goal;      Pos _beginPos;      struct timeval _startedToStopRobot;      int _tagDeployState;      bool _simulationMode;      int _angleHyst;      rescue_path_message path_message;      rescue_active_perception_req_message _actPerceptionReqMessage;      bool _automaticallyDeployTags;	double REACHED_DIST;	//Stall recognition	double _rotCmdSpeed;	double _lastRotCmdSpeed;	double _lastInu;	struct timeval _lastInuTime;	int _countStall;	int _countSmallStall;};#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. *********************************************************************/