#ifndef TARGETDRIVE_H#define TARGETDRIVE_H#include "RobotAction.h"#include "VFHState.h"class TargetDrive {	public:		TargetDrive(int tX, int tZ);		void driveFrom(int x, int z, int theta);	protected:		double driveTheta(double dTh);		double driveVel(double distSq);		double getSafeTheta(double targetTh, double th);				void freePieces(int freeSpaces [], int numSectors, int targetSect, int pieceSize, int** pieces, int piecesSize);		int firstFreeSectorsRight(double targetTh, int threshold, double theta);		int firstFreeSectorsLeft(double targetTh, int threshold, double theta);	private:		RobotAction* robotAction;			VFHState* vfhState;		int targetX, targetZ;		int freeSectorsThreshold;		// wie gro