2009-07-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_attacker_offensive_move.cpp:
	- ポジショニング位置を調整

	* src/bhv_go_to_cross_point.cpp:
	- スペースへの移動を実行する最大インターバルを設定

2009-07-05  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.cpp:
	- ペナルティキックの振舞いを変更
	- ペナルティキック等のバグを修正

2009-07-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_go_to_cross_point.cpp:
	- スペースへの移動後の待機時間を10から4へ減らした

	* src/bhv_attacker_offensive_move.cpp:
	- オフサイドラインへより近づくように位置を調整

	* src/bhv_defensive_mark.cpp:
	- マーク位置を調整

	* src/bhv_forward_shoot_area_kick.cpp:
	- 敵ゴール前でフリーなパスレシーブ位置があれば，セルフパスよりも優
	先的にパスを出すルールを追加

	* src/bhv_go_to_cross_point.cpp:
	- オフサイドラインをまたがないように調整

	* src/bhv_mark_pass_line.cpp:
	- マーク位置を調整

	* src/role_442_side_back.cpp:
	- OffMidFieldでも敵ボールの時は守備モードを呼び出すように変更

	* src/bhv_attacker_offensive_move.cpp:
	- ボールホルダーに近づく距離を変更．12.5 -> 13.5

	* src/bhv_basic_offensive_kick.cpp:
	- レシーブ位置がより前となるようにパスの条件を修正

	* src/bhv_defensive_mark.cpp:
	- マーク位置調整

	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	- 自陣中盤のインターセプト条件調整

2009-07-05  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.cpp:
	- デバッグメッセージの型指定が間違っていたのを修正

2009-07-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_defensive_mark.cpp:
	- マーク位置調整

	* src/bhv_go_to_cross_point.cpp:
	- スペースへの移動をデフォルトで無効化

	* src/pass_table2009.cpp:
	- ボロノイパスのレシーバの到達ステップに与えるペナルティ率を0.2か
	ら0.3へ変更

	* src/bhv_basic_offensive_kick.cpp:
	- 誤ってコミットしたものをr982の状態に戻した

	* src/bhv_set_play.cpp:
	- キッカー判定の条件を調整

	* src/bhv_center_back_danger_move.cpp:
	* src/bhv_center_back_danger_move.h:
	- 敵のシュートコースを塞ぐ動きを追加

	* src/bhv_center_half_cross_block_move.cpp:
	- マークを実行する条件を厳しくした

	* src/communication.cpp:
	- 次のサイクルに自分がボールをキック可能の場合はボール速度を0にし
	て喋るようにした

	* src/bhv_pre_process.cpp:
	* src/intention_receive.cpp:
	- パスレシーブ動作を数サイクル継続して実行するように
	IntentionReceiveを再利用

	* src/formations-442/defense-formation.conf:
	* src/formations-442/goal-kick-our.conf:
	- ゴール前の配置を調整
	- ゴールキックの2回目のキックに干渉しないように調整

2009-07-05  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_basic_offensive_kick.cpp:
	- セルフパスとペナルティエリア内等に繋がるパス等のバランスを調整し
	た

	* src/default_field_evaluator.cpp:
	- オフサイドラインを抜けたパスの状態に対して，フィールドの内側にな
	るほど良い評価を与えるようにした

	* src/bhv_basic_offensive_kick.cpp:
	- セルフパスよりも，ペナルティエリア内等に繋がるパスを優先させてい
	たのをやめ，x が +30.0 以上の時以外の状況のときは、以前のようにセル
	フパスのほうを優先するよう戻した

	* src/default_field_evaluator.cpp:
	- 評価関数で，ゴール前の評価を上げた
	- チェーン全体にかかるペナルティを小さくした
	- オフサイドラインを抜けたパスの状態に対してゴールからの距離による
	ボーナスを与えるようにした．

	* src/bhv_pass_test2008.cpp:
	- 2段目以上のチェーンパスに対するペナルティを緩めた

	* src/actgen_shoot.cpp:
	- シュートにかかる時間を固定値から簡易計算に変更した

	* src/bhv_savior.cpp:
	- ペナルティエリアの外側には，チームメイトより 5ステップ以上余裕が
	ある場合しか取りに行かないようにした．
	ソース中の INHIBIT_SIDE_AREA_CHASE をコメントアウトすると元の振舞
	いに戻る

2009-07-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_set_play_goal_kick.h:
	* src/formations-442/goal-kick-our.conf:
	- ゴールキック時に複数プレイヤでボールをつなぐルールを追加

2009-07-04  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/actgen_through_pass2008.cpp:
	- デバッグモードでのコンパイルエラー修正

	* src/default_field_evaluator.cpp:
	- get_chain_length_penalty()を変更．spendTime()ではなく，チェイン
	の長さを返すようにした
	- ボールホルダーのペナルティ割合を500.0から50.0に変更

	* src/bhv_center_back_defensive_move.cpp:
	- インターセプトの条件を調整

	* src/bhv_center_half_danger_move.cpp:
	- タックルを実行する確率を0.85から0.79に変更
	- インターセプトの条件を調整

	* src/bhv_defensive_mark.cpp:
	- マーク位置を調整．敵の速度の信頼性が低い場合は動きを抑えた．y座
	標値を0.5から0.75に変更

	* src/bhv_go_to_cross_point.cpp:
	- スペースを探す範囲を修正

	* src/communication.cpp:
	- NULLポインタチェックをしていなかったバグを修正
	- 他のプレイヤの情報を喋る頻度を落とした

	* src/actgen_through_pass2008.cpp:
	- Bhv_PassTest2008と同じパラメータに揃えた

	* src/bhv_attacker_offensive_move.cpp:
	- 味方のボール所有者に近づく距離を14.0から12.5に変更

	* src/bhv_go_to_cross_point.cpp:
	- 味方のボール所有者に近づく距離を変数にした．値は変えていない

	* src/strategy.cpp:
	- ディフェンスラインを崩しすぎないようにダッシュパワーを調整

	* src/bhv_side_back_defensive_move.cpp:
	- 他のブロッカーの存在チェックを追加

	* src/bhv_center_back_danger_move.cpp:
	* src/bhv_side_back_danger_move.cpp:
	- インターセプトの条件を修正

	* src/bhv_basic_offensive_kick.cpp:
	- OffKickTeammatepassを無効化

	* src/formations-442/kickin-our-formation.conf:
	- レシーバ候補の位置を調整

	* src/bhv_go_to_cross_point.cpp:
	- doGoToSpacee()を有効化した

	* src/communication.cpp:
	- ボールの情報を喋る条件を調整

	* src/bhv_pass_test2008.cpp:
	- アグレッシブモードになる角度の条件を22度から16度に狭くした

	* src/bhv_basic_offensive_kick.cpp:
	- パスとドリブルが不可能な状況でも，敵陣内であればホールドするよう
	に変更

2009-07-03  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_defensive_mark.cpp:
	- 自陣方向へ戻る動きを優先するように目標位置を調整

	* src/communication.cpp:
	* src/communication.h:
	- 敵の攻撃時は敵の攻撃的プレイヤを優先的に喋るようにした

2009-07-03  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/default_field_evaluator.cpp:
	- パスチェーンの総時間に掛けるペナルティの係数を増やした
	- ゴールに繋がるチェーンの途中状態で，相手チームプレイヤーよりゴー
	ルへの近さをより重視するよう変更

2009-07-03  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_forward_shoot_area_kick.cpp:
	- Crossを実行する条件を追加

	* src/role_442_center_back.cpp:
	* src/role_442_side_back.cpp:
	- OffMidFieldにボールがある場合でも，敵ボールでセンターラインに近
	い場合はディフェンシブな行動を選択するようにした

	* src/bhv_offensive_half_defensive_move.cpp:
	- GetBallに失敗した場合でも強制的にボールを追いかけるルールを追加

	* src/bhv_defensive_mark.cpp:
	- マーク位置を調整

	* src/mark_table.cpp:
	- マーク動作を実行するプレイヤを制限

	* src/formations-442/kickin-our-formation.conf:
	* src/formations-442/setplay-opp-formation.conf:
	- 敵のセットプレイ時のフォーメーションの穴を修正

	* src/communication.cpp:
	- 味方のボール所有者の判定しきい値を修正し，早めにボール所有者へ注
	意を向けるようにした

	* src/bhv_mark_pass_line.cpp:
	* src/bhv_defensive_mark.cpp:
	- マークの位置を調整

2009-07-03  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/default_field_evaluator.cpp:
	- 相手チームプレイヤーとの距離に関するペナルティを調整した

	* src/bhv_basic_defensive_kick.cpp:
	- ペナルティエリア内に繋がるパスを優先させるようにした

2009-07-02  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/default_field_evaluator.cpp:
	- 評価関数中で、自分の場合だけ一番近い相手プレイヤーとの距離のペナ
	ルティを 1000 倍するのをコメントアウトしていたのを外した
	- 途中ルート評価で最終状態にも同様にペナルティを与えるようにした
	- 途中ルートの評価で，アクションの種類によってどれだけ相手に詰め
	られているかを考慮するようにした．Hold，Dribble はボールがあまり動
	かないので近くまで詰められていると仮定．設計的にはどれだけ相手に詰
	められているかの情報は、評価の部分ではなく，状態に附属する情報とし
	て扱うべきかもしれない．
	- ゴール前を通るチェーンの途中の評価で，ゴールからの距離を評価に入
	れるようにした．

	* bhv_basic_offensive_kick.cpp:
	- パスの条件を変更し，味方がの位置が少し後ろでもドリブルよりパスを
	選択しやすくした
	- ペナルティエリア内の有利な場所に繋がるパスを優先させるようにした
	- 回避ドリブルができない場合で味方がいる場合，通常ドリブルよりもパ
	スを優先させるようにした
	- 前にチームメイトが2人以上いてかつ，自分より 15メートル以上前まで
	パスを回せる場合はドリブルよりパスを優先するようにした．

	* src/recursive_action_chain_graph.cpp:
	- デバッグログの形式を変更

2009-07-02  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_go_to_cross_point.cpp:
	- 移動範囲がゴール前のみに限定されていた不具合を修正

	* src/bhv_set_play.cpp:
	- 引き延ばしモードが後半開始時からも有効になっていたバグを修正

2009-07-02  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/default_field_evaluator.cpp:
	- ゴール前を通るチェーンの途中の評価で，ゴールからの距離を評価に入
	れるようにした．

2009-07-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/rcsc/action/dribble_table2009.cpp:
	- 同一方向に対するダッシュ回数探索ループの方針を元に戻した．より小
	さいダッシュ回数のドリブルもアクション候補として生成されるようになっ
	た

2009-07-01  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.cpp:
	- ゴール前への戻りが遅かったのを修正
	- ゴール前ポジショニングのサイドダッシュのパワーが適当だったのを修
	正

2009-07-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/role_442_center_half.cpp:
	- doDribbleBlock()のインターセプト条件を調整

2009-07-01  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.cpp:
	- ボールが遠くにある状態でもゴール前にポジショニングしていたバグを
	修正した．もとの振舞いに戻すには bhv_savior.cpp 中の
	GOAL_LINE_POSITIONING_CONDITION_BUG の define を有効にする．
	- ゴールライン際のポジショニング時の微調整にサイドダッシュを使うよ
	うにした

2009-07-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_self_pass.cpp:
	- 目標範囲の矩形を調整
	- 敵の位置信頼性カウントに与えるペナルティを追加
	- 敵との位置関係の計算が誤っていた不具合を修正

	* src/coach.conf:
	- team_graphicを有効にした

	* src/mark_table.cpp:
	- デバッグメッセージ修正

	* src/strategy.cpp:
	* src/strategy.h:
	- isMarkerType()を追加
	- ディフェンスラインより後ろにいるディフェンダーのダッシュパワーを調整

2009-06-30  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.cpp:
	- ペナルティエリアの前に出てのポジショニングする場合の位置を2メート
	ル後ろに下げた
	- パスの候補に2段目以上ダイレクトパスが入っていなかったのを修正
	- ゴールライン際のポジショニング時の微少の位置調整で，許容誤差を小
	さくした．また、誤差をX軸方向の誤差よりY軸方向の誤差を重視するよう
	変更
	- ボールが遠いときは細かくポジショニングしてもあまり意味がないので
	許容移動誤差を大きくして動きを減らした

	* src/recursive_action_chain_graph.h:
	* src/recursive_action_chain_graph.cpp:
	* src/strategy.h:
	* src/strategy.cpp:
	- RecursiveActionChainGraph のキャッシュの生成条件が間違っていたの
	を修正．ただし，現状1ステップに1度しか計算していなかったので計算負
	荷には影響しない．

2009-06-30  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_block_dribble.cpp:
	- Intentionの終了条件を調整し，インターセプトの判定を緩くした

	* src/bhv_cross.cpp:
	- 目標位置を現サイクルで既に見ている場合はScanFieldで見渡すように
	変更

	* src/bhv_side_back_aggressive_cross_block.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	- 緊急モードの移動目標位置を元に戻した
	- 緊急モードに入る条件を調整

	* src/bhv_go_to_cross_point.cpp:
	* src/bhv_go_to_cross_point.h:
	- 敵ゴール前でスペースを探して走り込む動きを追加．デフォルトでは無
	効．試すには，ソースファイル先頭付近の USE_GO_TO_FREE_SPACE の
	defineを有効にする

	* src/role_442_center_half.cpp:
	- CenterHalfの味方ゴール前のポジショニングアクションを有効化．以前
	のルールに戻すには，ソースファイル先頭付近の
	USE_BHV_CENTER_HALF_DANGER_MOVE のdefineを無効にする

	* src/default_field_evaluator.cpp:
	- 敵プレイヤとの距離のペナルティ計算をDefaultFieldEvaluatorローカ
	ルの関数として再実装

	* src/bhv_attacker_offensive_move.cpp:
	- 前へ走り込むときにオフサイドラインをまたがないようにダッシュパワー
	を調整するようにした

	* src/bhv_defensive_mark.cpp:
	- 現在位置がマーク目標位置よりも後ろの場合は，目標位置までの距離の
	許容誤差を大きく設定するようにした

	* src/bhv_self_pass.cpp:
	- セルフパスの実行条件を修正し，敵ゴール前のペナルティエリア内でも
	実行するようにした

	* src/rcsc/action/dribble_table2009.cpp:
	- 通常条件でのドリブルが発見されれば，aggresiveモードの登録はしな
	いようにした

	* src/default_field_evaluator.cpp:
	- free radiusのペナルティ計算の誤りを修正

	* src/rcsc/action/dribble_table2009.cpp:
	- 敵のチェック条件で無意味だったものを削除

	* src/bhv_basic_offensive_kick.cpp:
	- 自陣のサイド奥からはAdvanceBallではなくClearを実行するように変更

	* src/bhv_pass_test2008.cpp:
	- ドリブル時の首振りをNeck_ScanFieldに変更

	* src/bhv_basic_tackle.cpp:
	- デバッグメッセージを抑制

2009-06-30  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/default_field_evaluator.cpp:
	- 評価関数中で、自分の場合だけ一番近い相手プレイヤーとの距離のペナ
	ルティを 1000 倍していたのを修正

2009-06-29  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/rcsc/action/dribble_table2009.cpp:
	* src/rcsc/action/dribble_table2009.h:
	- aggressiveモードのCooperativeActionリストを生成するようにした．
	ただし，まだ実際には使われていない
	- 敵の制御半径をtackle_distからキッカブルエリアに変更した．回避性
	能は向上したが，逃げ過ぎかもしれない

2009-06-29  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/default_field_evaluator.cpp:
	- 2段以上のチェーンの場合，1段目の状態も考慮して評価するように変更．
	1段目の状態の評価値ではなく1段目の状態での相手チームプレイヤーから
	の距離を使って評価している．

	* src/bhv_savior.cpp:
	- ペナルティエリアの前方でポジショニングするときの位置を少しだけ後
	ろ寄りにした
	- スタミナの判定が古いスタミナモデルに対するものだったのを更新

	* src/actgen_pass_table_pass.cpp:
	* src/actgen_dribble_table_omnidir_dribble.cpp:
	* actgen_direct_pass.cpp:
	- 味方到達時刻とボール到達時刻を取り違えていたバグを修正

2009-06-29  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/pass_table2009.cpp:
	- パスレシーブスピードの最大値を固定値からヘテロの能力に応じた値へ
	戻した．ただし，レシーバの到達ステップ数に応じて到達ステップ数にペ
	ナルティを与えるようにした

2009-06-29  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/actgen_direct_pass.cpp:
	- キックするためにかかる時間を予想時間に追加した

	* src/bhv_basic_defensive_kick.cpp:
	- ペナルティエリア内で相手チームプレイヤーが近くにいる場合は
	クリアを選択するようにした

2009-06-28  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_pass_test2008.cpp:
	- Bhv_PassTest2008 の評価関数で，1段のリカーシブパスにもペナルティが
	与えられていため, PassTable のパスより PassTest2008 のパスが有利に扱
	われていたのを解消

	* src/bhv_basic_defensive_kick.cpp:
	- ペナルティエリア内では，1段目のパスレシーブ位置を元に判断するよう
	に変更

	* src/default_field_evaluator.cpp:
	- キーパーがサイドにいる場合に中央や逆サイドにボールがある状態にペ
	ナルティを与えるようにした．
	これにより，キーパーがサイドにボールを取りにいった場合のキーパーか
	ら出すパスと，キーパーが戻るまでの間にボールを受けたプレイヤーから
	のパスではサイドに出すパスのほうが選択されやすくなる．

	* src/bhv_savior.cpp:
	- パスを ActGen_{Direct,Lead,Voronoi}の代わりに ActGen_PassTablePass
	を使うよう変更
	- ゴールキック時のポジショニングを変更

	* src/actgen_through_pass2008.cpp:
	- レシーブ位置の x 座標 が 30.0 以上のときは最終アクションとはせず，
	次に繋がるアクションも検索するようにした．
	これによりスルーパスからのシュートも検索対象になった．

	* src/default_field_evaluator.h:
	* src/default_field_evaluator.cpp:
	- コードの内部メソッドへの括り出し．振舞いには影響せず．

	* src/rcsc/player/predict_state.h:
	- エラーメッセージを修正

2009-06-28  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/rcsc/action/body_intercept2009.cpp:
	- デバッグメッセージをoffにした

2009-06-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_attacker_offensive_move.cpp:
	- インターセプトの条件をリビジョン902以前の状態に戻した

	* src/rcsc/action/body_intercept2009.cpp:
	- アタッカーが敵のインターセプトを無視する条件を無効化し，リビジョ
	ン896以前と同等の状態に戻した

	* src/Makefile.am:
	* src/bhv_center_half_danger_move.cpp:
	* src/bhv_center_half_danger_move.h:
	* src/role_442_center_half.cpp:
	* src/role_442_center_half.h:
	- CenterHalfのボール前のディフェンスアクションを追加．ただし，まだ
	実装中のため未使用

2009-06-27  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/actgen_pass_table_pass.cpp:
	- DEBUG_PRINT 定義時のコンパイルエラーを修正

2009-06-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_get_ball.cpp:
	- 敵がキッカブル状態のときには敵に与えるペナルティを0にした．これ
	によって，敵に抜かれにくくなる

	* src/bhv_attacker_offensive_move.cpp:
	- インターセプトの条件を調整

	* src/bhv_center_half_defensive_move.cpp:
	* src/bhv_center_half_defensive_move.h:
	- 実装を整理

	* src/bhv_defensive_mark.cpp:
	- マーク目標位置と敵のトラップ位置のy座標差の大きさに関係なくマー
	ク動作をするように修正

	* src/rcsc/action/body_intercept2009.cpp:
	- attackerの判定条件を調整

	* src/role_442_forward.cpp:
	* src/role_442_forward.h:
	- DribbleAttackAreaのキックアクションをdoDribbleAttackAreaKick()と
	して分離．ただし，中身はdoMiddleAreaKick()を呼び出すのみ

2009-06-27  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/rcsc/player/predict_state.h:
	- ボール保持者の位置が更新されていなかった問題を修正
	- 修正ミスを修正

2009-06-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/actgen_direct_pass.cpp:
	- デバッグメッセージ抑制

	* src/default_field_evaluator.cpp:
	- デバッグメッセージ追加

	* src/role_442_center_back.cpp:
	* src/role_442_center_half.cpp:
	* src/role_442_forward.cpp:
	* src/role_442_side_back.cpp:
	* src/role_442_side_half.cpp:
	- キッカブルの判定をライブラリ側へ統一

	* src/rcsc/action/body_intercept2009.cpp:
	- キーパーのインターセプト選択の不具合を修正
	- 攻撃的な状況では敵の到達ステップの方が小さくても無視して走り込む
	条件を追加

	* src/pass_table2009.cpp:
	- VoronoiPass, VoronoiLeadPassの最大レシーブスピードを固定値の1.6
	に変更

	* src/default_field_evaluator.cpp:
	- パスの長さによるペナルティを線形増加から指数増加に変更．ただし，
	実際には未使用

	* src/actgen_direct_pass.cpp:
	* src/recursive_action_chain_graph.cpp:
	- 探索の深さを3から2に減らした
	- SAME_PASSER_POS_THRESHOLD を0.1から10.0に変更

	* src/bhv_get_ball.cpp:
	* src/strategy.cpp:
	* src/strategy.h:
	- GetBallの基準位置をStrategyクラスのstatic関数で参照するようにし
	た

2009-06-27  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/recursive_action_chain_graph.cpp:
	- ボール保持者が自分以外の場合のパスラインのデバッグ出力を修正

	* src/actgen_through_pass2008.h:
	- コンパイルエラーを修正

2009-06-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/actgen_through_pass2008.cpp
	* src/bhv_pass_test2008.cpp:
	- レシーバが斜め方向にスルーパスに対しては敵へのペナルティを与えな
	いようにした
	- 2段目以降の検索では探索の粒度を荒くした

	* src/communication.cpp:
	- 11番が自分の位置を喋れていなかったバグを修正

	* src/bhv_defensive_mark.cpp:
	- 目標位置との距離差のバッファを固定値の0.5に変更

2009-06-27  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/recursive_action_chain_graph.h:
	* src/recursive_action_chain_graph.cpp:
	- コンパイルエラーを修正

	* src/pass_checker.h:
	- インクルードガードを変更

	* src/actgen_direct_pass.cpp:
	- 再帰探索で，時刻以外が同じ状態になったときにはその状態を探索しな
	いよう変更した

	* src/recursive_action_chain_graph.h:
	* src/recursive_action_chain_graph.cpp:
	- 再帰探索での状態を評価する数の上限を設け，それ以上は検索しないよ
	うにした．
	現在，上限を 1000 に設定している．

	* src/recursive_action_chain_graph.h:
	* src/recursive_action_chain_graph.cpp:
	* bhv_pass_test2008.cpp:
	* bhv_savior.cpp:
	- チェーンアクションのデバッグメッセージを書き出すメソッドを static
	メソッドに変更

	* rcsc/player/predict_state.h:
	- posCount のチェック条件を public からアクセスできるよう変更

2009-06-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_offensive_half_defensive_move.cpp:
	- GetBallの状況でのインターセプト実行条件を修正

	* src/bhv_self_pass.cpp:
	- ダッシュ回数が小さい場合には，より粒度の細かいシミュレーションを
	行うようにした

	* src/pass_table2009.cpp:
	* src/pass_table2009.h:
	- パスレシーブ時のボールスピードの最大値を下げた（要調整）
	- DirectLeadパスの生成ポリシーを変更して，DirectPassが通らない場合
	でも検証するようにした

	* src/bhv_self_pass.cpp:
	- 攻め込んだ状況では，まっすぐ進むよりもゴールに近づく方向を先に探
	すようにした

	* src/role_442_side_back.cpp:
	- 首振りによるボール確認の条件を修正

	* src/bhv_cross.cpp:
	* src/bhv_pass_test2008.cpp:
	* src/bhv_pre_process.cpp:
	- 次のサイクルもキック途中の場合はパスメッセージを喋らないようにし
	た
	- パスメッセージを聞いた場合に，インターセプト動作をより優先的に実
	行するように変更した

	* src/rcsc/action/body_intercept2009.cpp:
	- インターセプトの判断を改善した（特にキーパーモード）

2009-06-26  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/role_442_center_half.cpp:
	* src/role_442_center_half.h:
	- CrossAreaのキックアクションがBhv_Crossだけだったので，
	Bhv_CrossAreaKickに置き換えた

	* src/bhv_self_pass.cpp:
	- 敵を有利にする条件を，オフサイドラインではなく各敵プレイヤとの位
	置関係で決めるようにした

	* src/pass_table2009.cpp:
	- パスレシーブ時のボールスピードの最大値を下げた

	* src/rcsc/action/body_intercept2009.cpp:
	- デバッグメッセージ修正

	* src/pass_table2009.cpp:
	- デバッグメッセージ修正
	- ダイレクトパスの最大レシーブスピードを小さくした
	- ボロノイパスの最大距離を大きくした
	- パス目標到達位置のx座標値が大きくなく，かつ，ボールが到達した
	時点ですぐ近くまで追いつける敵がいる場合はパスが通らないとみなすこ
	とにした
	- パス目標位置のx座標値が大きい場合は位置の信頼性に応じて敵に与え
	られるボーナスを減らした

	* src/bhv_pass_test2008.cpp:
	- スルーパスと同様にダイレクトパスでも，敵の体の向きの信頼性が高い
	い場合にペナルティを考慮するようにした
	- 評価関数の記述順序を整理

	* src/communication.cpp:
	- ボールに近い味方へ注目するかどうかの判定を調整

	* src/bhv_center_back_danger_move.cpp:
	- 現在のボール位置がペナルティエリアより前の場合はGetBallの範囲を
	大きくした

	* src/bhv_side_back_danger_move.cpp:
	- インターセプトの条件を修正

	* src/rcsc/action/body_intercept2009.cpp:
	- アタッカーの判定を調整
	- ターン無しのインターセプトの評価値を到達ステップ数に変更

	* src/bhv_simple_dribble.cpp:
	* src/rcsc/action/dribble_table2009cpp:
	- 余計なターンをしないようにした
	- ダッシュ回数の最大値を減らした
	- 同じ目標方向でダッシュ回数がより多いものが見つかったら，その方向
	の探索はそこで打ちきるようにした
	- 目標位置が攻撃的ではない状況ではより敵に有利な判定になるようにした

	* src/bhv_self_pass.cpp:
	- 目標位置がオフサイドラインを越えない場合はより敵に有利な判定にな
	るようにした

	* src/view_tactical.cpp:
	- キッカブル状態でもwideモードにしてしまう不具合を修正

	* src/bhv_self_pass.cpp:
	- 終了判定でのボールの位置関係チェックのバグを修正

	* src/bhv_basic_tackle.cpp:
	- タックルできる時はとにかくタックルするようにした

	* src/bhv_cross.cpp:
	- 探索範囲を元に戻した

	* src/bhv_self_pass.cpp:
	- 状況に応じて目標方向の優先順位を変更するようにした

	* src/neck_offensive_intercept_neck.cpp:
	- 味方の確認はボールの信頼性が高い場合にのみ行うようにした

	* src/role_442_forward.cpp:
	- ShootChanceエリアでBhv_ForwrdShootAreaKickを使うようにした

2009-06-25  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/actgen_dribble_table_omnidir_dribble.h:
	* src/actgen_dribble_table_omnidir_dribble.cpp:
	* src/bhv_pass_test2008.cpp:
	* src/rcsc/action/dribble_table2009.cpp:
	* src/bhv_simple_dribble.h:
	* src/Makefile.am:
	* src/strategy.cpp:
	- DribbleTable を使ったアクションジェネレータ
	ActGen_DribbleTableOmnidirDribble を追加した
	- Bhv_PassTest2008 でドリブルに使うアクションを	Bhv_SimpleDribble
	に変更
	- これまでの全方位ドリブルをの代わりにDribbleTable 版を使用するよ
	うに変更

2009-06-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_forward_shoot_area_kick.cpp:
	- シュートまでのチェーンを検索した場合はそちらを優先するよう変更
	- シュートにつながらないパスは一段目のレシーブ位置をチェックするよ
	うに変更

2009-06-25  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_keep_shoot_chance.cpp:
	* src/bhv_cross_area_kick.cpp
	* src/role_442_forward.cpp:
	* src/role_442_side_half.cpp
	- シュートまでのチェーンを検索した場合はそちらを優先するよう変更

	* src/bhv_pass_test2008.cpp:
	- ゴールが決まった状況を評価すると高い評価になるよう変更した．
	これまでの評価関数ではゴールよりゴール前のほうが高い評価になること
	があった

	* src/bhv_savior.cpp:
	- シュートが決まることがほぼ確実な場合でもきちんと追いかけるように
	した

2009-06-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	* src/bhv_forward_shoot_area_kick.cpp:
	* src/bhv_forward_shoot_area_kick.h:
	- フォワードの攻撃動作を再実装するために，ShootChanceエリアのキッ
	ク動作を分離

	* src/bhv_defensive_mark.cpp:
	- シュート可能エリア内でのマーク動作を抑制するために，マーク位置
	のx座標値を-30までに限定した．

	* src/Makefile.am:
	* src/bhv_simple_dribble.cpp:
	* src/bhv_simple_dribble.h:
	- cooperative_action.hをビルドターゲットに追加
	- DribbleTableで計算した結果を使うことを想定したドリブルアクション
	を追加した．コンストラクタ引数にはCooperativeActionを与えられるが，
	ActionTypeがDribbleで無い場合には何も実行しなくなる．更に，
	DribbleTableが生成したCooperativeActinでなければ期待する動作はしな
	いので注意

2009-06-25  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/rcsc/player/cooperative_action.h:
	* src/rcsc/action/cooperative_action.h:
	* src/rcsc/player/action_state_pair.h:
	* src/rcsc/player/field_evaluator.h:
	* src/rcsc/action/dribble_table2009.h:
	* src/recursive_action_chain_graph.h:
	* src/pass_table2009.h:
	- rcsc/action/cooperative_action.h を rcsc/player/ に移動

	* src/bhv_savior.cpp:
	- ボールの位置が誤差でフィールドの外に出ている状態の扱いを修正
	- ボールが比較的後方で，ペナルティエリアの外にある場合のポジショニ
	ングで、ポジショニングが振動してしまう問題を修正

	* src/strategy.cpp:
	- 1段目の ActGen_ThroughPass2008 を検索対象に追加し，PassTest のス
	ルーパスが出せるときにも，ドリブルからのスルーパスを選択してしまわ
	ないようにリカーシブの検索での時点で排除するようにした

2009-06-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_center_half_cross_block_move.cpp:
	- マーク対象のプレイヤを確認する首振りを追加

	* src/bhv_defensive_mark.cpp:
	- max_dash_powerで移動するように変更

	* src/bhv_get_ball.cpp:
	- デバッグメッセージ追加
	- 敵の基準位置で，敵の体の向き方向の移動分を0.2から0.4へ変更

	* src/bhv_savior.cpp:
	- 他の味方がキック可能でよりボールに近い状態ではボールを蹴らないよ
	うにした

	* src/communication.cpp:
	- ボールを見失っている場合はボールにもっとも近い味方に注意を向ける
	ようにした

	* src/rcsc/action/dribble_table2009.cpp:
	* src/rcsc/action/dribble_table2009.h:
	- 6サイクル分のドリブル予測を実装した．ただし，アクションとは連動
	していないので，Body_Dribble2008をそのまま使っても期待通りの動作は
	しない．

	* src/role_442_center_half.cpp:
	- ShootChanceの強制クロスを削除

	* src/role_442_forward.cpp:
	- ShootChanceにセルフパスを追加

2009-06-25  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/actgen_through_pass2008.cpp:
	* src/bhv_pass_test2008.cpp:
	- pass_test のスルーパスを ActGen_ThroughPass2008 にマージ

2009-06-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_cross_area_kick.cpp:
	- パスコースの判定でシュート可能な距離を無視していた不具合を修正

	* src/bhv_defensive_mark.cpp:
	- 返り値を間違っていた不具合を修正

	* src/bhv_pass_test2008.cpp:
	- 評価関数を修正．リカーシブの深さに応じてペナルティを設定．1ステッ
	プキックへのボーナスを削除

2009-06-24  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_defensive_mark.cpp:
	* src/bhv_defensive_mark.h:
	- マーク対象を確認しやすくするための体の向き調整とturn_neckのアク
	ションを実装

	* src/bhv_pass_test2008.cpp:
	* src/bhv_pass_test2008.h:
	- パスの評価関数を調整．ガウス関数でゴール周辺からの距離に応じて評
	価値が減衰するモデルを導入した
	- 一回でパスを蹴り出せない場合に，ボールスピードが大きいと評価を下
	げるようにした

	* src/bhv_side_back_aggressive_cross_block.cpp:
	- GetBallの条件を修正

	* src/communication.cpp:
	- ボールの信頼性が低い場合はボールに近い味方に注目するようにした

	* src/neck_check_ball_owner.cpp:
	* src/neck_check_ball_owner.h:
	- 実装を整理
	- 味方ゴールが近い状況では，視界コーンの中にボールが入らなくても
	View_Synchするように変更

2009-06-24  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/recursive_action_chain_graph.h:
	* src/recursive_action_chain_graph.cpp:
	* bhv_pass_test2008.cpp:
	* bhv_savior.cpp:
	- RecursiveActionChainGraph のコンストラクタを private にし，
	RecursiveActionChainGraph::instance() を追加した

	* src/train.sh:
	* src/train.sh.in:
	* src/train-offline.sh:
	* src/train-offline.sh.in:
	* src/Makefile.am
	* configure.ac:
	- train.sh, train-offline.sh を自動生成するようにした

2009-06-24  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_pass_test2008.cpp:
	- スルーパスの予測で，敵プレイヤの速度と体の向きが確実に見えている
	ときにのみペナルティを与えるようにした

	* src/bhv_center_back_defensive_move.cpp:
	- 先回りできないときに緊急で後ろへ戻る動きを追加した

	* src/bhv_get_ball.cpp:
	- 敵の基準位置を調整
	- 振動が起きないように，先回りの成功判定を統一した

	* src/bhv_offensive_half_offensive_move.cpp:
	* src/bhv_offensive_half_offensive_move.h:
	- 通常移動のアクションをBhv_BasicMoveからローカルなものへ置き換え，
	目標位置に移動後は前を向くようにした

	* src/bhv_side_back_danger_move.cpp:
	- ゴールライン際の敵ボールに対してはキーパーを信頼してシュートブロッ
	クの動きをしないようにした

	* src/communication.cpp:
	- 状況に応じて他のプレイヤよりも自分の位置を優先的に喋るようにした
	- play_on以外のときはボールが動いていなければボール位置を喋らない
	ようにした

	* src/formations-442/kickin-our-formation.conf:
	- マークしてくる相手への対応として，キッカーへより近づくように配置
	を調整

	* src/bhv_goalie_free_kick.cpp:
	* src/bhv_set_play.cpp:
	* src/bhv_set_play.h:
	* src/bhv_set_play_free_kick.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_set_play_kick_in.cpp:
	* src/bhv_set_play_kick_off.cpp:
	* src/strategy.cpp:
	* src/strategy.h:
	- 1点差で勝っている状況でハーフの残り時間が500を切っている場合には
	セットプレイを引き延ばすようにした
	- セットプレイ時のキーパーがBhv_Saviorを呼び出すようにした

	* src/Makefile.am:
	* src/communication.cpp:
	* src/communication.h:
	* src/bhv_defensive_mark.cpp:
	* src/helios_player.cpp:
	* src/helios_player.h:
	- 新しいコミュニケーション実装としてCommunicationクラスを追加した．
	helios_player.cppの先頭の USE_COMMUNICAION_2009 を無効にすると従来
	のコミュニケーションに戻せる

	* src/strategy.cpp:
	- デバッグメッセージ修正

2009-06-24  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_basic_offensive_kick.cpp:
	- パスチェックに get_best_pass_first() を使うよう変更

	* src/bhv_basic_defensive_kick.cpp:
	- パスチェックに get_best_pass_final() をメインにを使うよう変更
	- 自軍の深い場所では get_best_pass_first() を使うよう変更

	* src/strategy.cpp:
	- 2段目のスルーパスも検索するようにした

	* src/actgen_omnidir_dribble.cpp:
	* src/actgen_dribble_forward.cpp:
	- ドリブルを遂行するのにかかる予測時間を少し長くした

2009-06-23  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/rcsc/action/cooperative_action.h:
	* src/actgen_omnidir_dribble.cpp:
	* src/actgen_dribble_forward.cpp:
	- CooperativeAction のデフォルト引数を無効化した

	* src/bhv_pass_test2008.cpp:
	- USE_COMMON_FIELD_EVALUATOR を define したときにコンパイルエラーに
	なるのを修正した

2009-06-23  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_pass_test2008.cpp:
	- 評価関数でボールスピードの大きさに応じた増加率を0.3から0.2へ減ら
	した

	* src/bhv_side_back_defensive_move.cpp:
	- GetBall範囲のy座標最大値を31.5から32.5へ増やした

	* src/neck_offensive_intercept_neck.cpp:
	- 到達ステップが近い場合には

	* src/pass_table2009.cpp:
	- 味方の到達ステップ予測を調整し，ターン回数へのペナルティをより考
	慮するようにした．

2009-06-23  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.cpp:
	- ポジショニングモードの切り替えルールに間違っているところがあった
	ので修正した

	* src/recursive_action_chain_graph.cpp:
	- 再帰探索がこれまで2ステップしか見ていなかったの修正し，3ステップ
	見るようにした

	* src/actgen_direct_pass.cpp:
	* src/actgen_voronoi_pass.cpp:
	* src/actgen_lead_pass.cpp:
	* src/actgen_through_pass.cpp:
	* src/actgen_through_pass_2.cpp:
	* src/actgen_shoot.cpp:
	- ActGen_* のパス候補の posCount の閾値を 10 にし，PassTable と閾値
	が異なっていたのを解消した

	* src/actgen_shoot.cpp:
	* src/default_field_evaluator.cpp:
	- 使用していないコードを削除

	* src/bhv_savior.cpp:
	- ゴール前でのポジショニングで少し端寄りにポジショニングするのをや
	めた

2009-06-23  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_self_pass.cpp:
	- x>36の領域では最小ダッシュステップ数を4に設定

	* src/default_field_evaluator.cpp:
	- シュート可能距離を30mから16mへ縮小

	* src/view_tactical.cpp:
	- デバッグメッセージ追加
	- 危険な状況でキーパーがnormal viewになってしまう不具合を修正

	* src/formations-442/kickin-our-formation.conf:
	- サイドバックが上がり過ぎないようにキックイン時の配置を調整

	* src/Makefile.am:
	* src/bhv_defensive_mark.cpp:
	* src/bhv_defensive_mark.h:
	- センターバックとサイドバックで共通の，中盤の守備的状況のためのマー
	クアクションを追加．ただし，デフォルトでは使用されない．

	* src/bhv_center_back_danger_move.cpp:
	- 他のブロッカーの存在判定条件を調整

	* src/bhv_center_back_defensive_move.cpp:
	- インターセプトの条件を調整
	- GetBallの条件を調整
	- Bhv_DefensiveMarkの呼び出しを追加

	* src/bhv_center_half_defensive_move.cpp:
	* src/bhv_center_half_defensive_move.h:
	- インターセプトをサブルーチン化して調整

	* src/bhv_get_ball.cpp:
	- 敵が地殻にいる場合はView_Synchするようにした
	- 予測計算で敵と自分との到達ステップ比較のパラメータを調整

	* src/bhv_pass_test2008.cpp:
	- ドリブル実行時に回避行動を取らないように設定

	* src/bhv_side_back_defensive_move.cpp:
	- 緊急モードに入る条件を修正
	- Bhv_DefensiveMarkの呼び出しを追加

	* src/default_field_evaluator.cpp:
	- is_free_situation_near_offside_lineでの評価が逆だったのを修正
	- 評価値更新内容を確認するためのデバッグメッセージ追加

	* src/helios_player.cpp:
	- 敵ボールの時は自分の位置を喋らないようにした

2009-06-22  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_pass_test2008.cpp:
	* bhv_pass_test2008.h:
	* bhv_basic_defensive_kick.cpp:
	* bhv_basic_offensive_kick.cpp:
	* bhv_pass_kick_find_receiver.cpp:
	* bhv_keep_shoot_chance.cpp:
	* bhv_cross_area_kick.cpp:
	* bhv_set_play_kick_in.cpp:
	* bhv_set_play_free_kick.cpp:
	* bhv_set_play_goal_kick.cpp:
	* bhv_set_play_indirect_free_kick.cpp:
	* neck_default_intercept_neck.cpp:
	* neck_turn_to_receiver.cpp:
	* role_442_forward.cpp:
	* role_442_side_half.cpp:
	* role_center_forward.cpp:
	* role_side_forward.cpp:
	* role_offensive_half.cpp:
	- Bhv_PassTest2008::get_best_pass() を get_best_pass_first() と
	get_best_pass_final() の2つに分けた．get_best_pass_first() はこれ
	までどおり1段目の状態を返し，get_best_pass_final() はチェーンの最
	後の状態を返す．
	bhv_pass_test2008.cpp 中の RETURN_FIRST_PASS_AS_FINAL_PASS を
	define することで，この変更の影響を無効化して全体の挙動を元の挙動
	に戻すことができる．

	* src/default_field_evaluator.h:
	* src/default_field_evaluator.cpp:
	- DefaultFieldEvaluator のオフサイドライン際でのフリーな状態かどうかの
	チェックで，これまで現在状態でチェックしていたのをきちんと予測状態で
	チェックするよう修正した

	* src/default_field_evaluator.cpp:
	* src/actgen_shoot.h:
	* src/actgen_shoot.cpp:
	- DefaultFieldEvaluator のシュート可能性のチェックで，これまで
	現在状態でのシュート可能性をチェックしていたのをきちんと予測状態で
	チェックするよう修正した

	* src/world_model_ext.h:
	- PredictState を引数に取るフォワードラインを返す関数を追加

2009-06-22  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* TODO:
	- TODOファイルを追加

	* src/role_442_center_half.cpp:
	- 不要なヘッダインクルードを削除

	* src/bhv_find_ball.cpp:
	- 動作の実体をBhv_NeckBodyToBallへ変更

	* src/neck_chase_ball.cpp:
	- change_viewのルールを修正し，wideモードも使うようにした

	* src/neck_check_ball_owner.cpp:
	- もっとも早くボールに到達する敵プレイヤの信頼性チェックしきい値を
	ball().posCount()から固定値の2へ変更

	* src/view_tactical.cpp:
	- 次のボールトラップ位置の予測で自分の到達ステップも考慮するように
	修正

2009-06-21  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/actgen_omnidir_dribble.cpp:
	* src/actgen_shoot.cpp:
	* src/bhv_pass_test2008.cpp:
	* src/bhv_self_pass.cpp:
	- デバッグメッセージを抑制，修正

	* src/bhv_danger_area_tackle.cpp:
	- デバッグメッセージを抑制

	* src/bhv_offensive_half_offensive_move.cpp:
	- インターセプトのルールを調整

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_go_to_cross_point.cpp:
	* src/role_442_forward.cpp:
	- スペースへ動く場合に見かたのボールトラップ位置とのy座標の差を10m
	から14に変更

2009-06-21  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/recursive_action_chain_graph.cpp:
	- モンテカルロ探索を止め，評価が最大のものを探索するよう戻した

	* src/bhv_savior.cpp:
	- ゴール前でのポジショニングを少し端寄りにポジショニングするようにした

2009-06-19  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/rcsc/player/predict_state.h:
	- PredictState::ball().vel() を実装した．現在状態以外では速度は 0
	となる

	* src/actgen_shoot.h:
	* src/actgen_shoot.cpp:
	- シュートのチェックが現在位置からになっていたのを，予測状態の位置を
	もとにチェックするよう修正

	* src/strategy.cpp:
	* src/actgen_shoot.cpp:
	- シュートの1段目に蹴らないためのチェックを呼出し側に移動

	* src/rcsc/player/predict_state.h:
	- getPlayerCont() を実装

	* src/default_field_evaluator.cpp:
	- コンパイル時にワーニングが出ていたのを修正

	* src/bhv_savior.cpp:
	- ボールが遠い場合は，スタミナ保存のため移動速度を落とすようにした

2009-06-19  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/formations-442/defense-formation.conf:
	* src/formations-442/normal-formation.conf:
	* src/formations-442/offense-formation.conf:
	- 3種類のフォーメーションをそれぞれ調整

	* src/bhv_defender_basic_block_move.cpp:
	- 敵がボールを持っている場合はボールとキッカーに注目するようにした

	* src/bhv_pass_test2008.cpp:
	- よりスピードの速いパスを高評価とするようにした

	* src/bhv_savior.cpp:
	- 敵のトラップまで余裕がある場合はFindBallを抑制するようにした

	* src/bhv_side_back_danger_move.cpp:
	- シュートコースをブロックする位置をキッカブルエリアの半径を使って
	算出するようにした

	* src/pass_table2009.cpp:
	- ボールを蹴り出した次のサイクルに敵に蹴られてしまうパスコースは残
	さないようにした

	* src/strategy.cpp:
	- 敵の戦略タイプ判定を無効化

	* src/bhv_cross_area_kick.cpp:
	- シュートコースが空いている位置へのパスがあれば，優先的にパスを出
	すルールを追加

	* src/bhv_keep_shoot_chance.cpp:
	- SelfPassを追加

	* src/role_442_side_half.cpp:
	- 優先的に出すスルーパスの発動条件を少し厳しくした

	* src/role_442_forward.cpp:
	* src/role_center_forward.cpp:
	* src/role_side_forward.cpp:
	- レシーブ位置前方のスペースチェックが間違っていたバグを修正

2009-06-19  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/actgen_recursive_level_filter.h:
	* src/strategy.cpp:
	* src/bhv_savior.cpp:
	- ActGen_{Min,Max,Range}RecursiveLevelFilter を追加し，最小段数，
	最大段数，その両方を指定できるようにした

	* src/actgen_direct_pass.cpp:
	- ActGen_DirectPass 中の1段目抑制を解除し，Filterで抑制するよう変更

	* src/bhv_savior.cpp:
	- 使用していないコードを削除

2009-06-19  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/rcsc/action/body_intercept2009.cpp:
	- キーパー用のインターセプトでターン回数とボール距離を同時にチェッ
	クするようにした

	* src/bhv_get_ball.cpp:
	- デバッグメッセージ修正

	* src/bhv_set_play_goal_kick.cpp:
	- インターセプト位置のチェックでY座標が絶対値になっていなかったバ
	グを修正

	* src/bhv_side_back_defensive_move.cpp:
	- マーク対象を確認するときに，可能であればwide viewにするようにし
	た

	* src/role_442_forward.cpp:
	- CrossエリアのキックをBhv_CrossAreaKickに置き換え

	* src/bhv_pass_test2008.cpp:
	- ゴールキック時にパスコースを探せていなかった不具合を修正
	- パスの評価関数を調製．ボールスピードが大きい場合に評価を落とさな
	いようにした

	* src/pass_table2009.cpp:
	- オフサイドの判定バッファを調製

	* src/bhv_center_back_defensive_move.cpp:
	- インターセプトの条件を調製

	* src/helios_coach.cpp:
	* src/helios_player.cpp:
	* src/helios_player.h:
	- TeammateMessage, OpponentMessageをサポート
	- 敵プレイヤの情報を喋る処理を追加

2009-06-18  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_set_play.cpp:
	* src/bhv_set_play.h:
	* src/bhv_set_play_free_kick.cpp:
	* src/bhv_set_play_free_kick.h:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_set_play_goal_kick.h:
	* src/bhv_set_play_indirect_free_kick.cpp:
	* src/bhv_set_play_indirect_free_kick.h:
	* src/bhv_set_play_kick_in.cpp:
	* src/bhv_set_play_kick_in.h:
	* src/bhv_set_play_kick_off.cpp:
	* src/bhv_set_play_kick_off.h:
	* src/bhv_their_goal_kick_move.cpp:
	* src/bhv_their_goal_kick_move.h:
	* src/helios_player.cpp:
	- セットプレイの実装を整理
	- 敵のセットプレイ時のダッシュパワーを修正し，目標位置よりも後ろか
	ら移動する場合には従来のダッシュパワー計算式を使うようにした

	* src/formations-442/indirect-freekick-opp-formation.conf:
	- 審判に移動させられないように調整

2009-06-18  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/default_field_evaluator.cpp:
	* src/recursive_action_chain_graph.cpp:
	- チェーンアクションの評価で，段数の代わりに時間でペナルティを
	与えるよう変更

	* src/rcsc/player/predict_state.h:
	- PredictState::getOpponentNearestTo() を実装

	* src/actgen_through_pass2008.cpp:
	- アクションのタグを "pass_test through" から "through2008" に変更

	* src/bhv_savior.cpp:
	- 使用していない変数を削除

	* src/simple_pass_checker.h:
	- include ガードを変更

2009-06-18  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_go_to_static_ball.cpp:
	* src/bhv_set_play.cpp:
	* src/bhv_set_play.h:
	* src/bhv_set_play_free_kick.cpp:
	* src/bhv_set_play_free_kick.h:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_set_play_goal_kick.h:
	* src/bhv_set_play_indirect_free_kick.cpp:
	* src/bhv_set_play_indirect_free_kick.h:
	* src/bhv_set_play_kick_in.cpp:
	* src/bhv_set_play_kick_in.h:
	* src/bhv_set_play_kick_off.cpp:
	* src/bhv_set_play_kick_off.h:
	- セットプレイ全般を整理，一部再実装

	* src/bhv_pass_test2008.cpp:
	* src/pass_table2009.cpp:
	- 非play_on時のパスのフィルタールールを変更

	* src/strategy.cpp:
	- サイクルが止まっている時にはデバッグログの図形描画を抑制

	* src/rcsc/action/body_intercept2009.cpp:
	- キーパーがペナルティエリア外のボールを追いかける候補を選択する際
	に，トラップ時のボールとの距離を考慮するようにした

	* src/bhv_self_pass.cpp:
	- 進行方向よりも背後にいる敵プレイヤに対してよりペナルティを与える
	ようにした

2009-06-17  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/neck_turn_to_receiver.cpp:
	- 空のvectorをpop_backして落ちてしまうバグを修正

	* src/bhv_go_to_cross_point.cpp:
	* src/bhv_go_to_cross_point.h:
	- コードを整理

	* src/bhv_pass_test2008.cpp:
	- 不要なコードを削除
	- レシーバを確認するneckアクションをNeck_TurnToReceiverに置き換え

	* src/neck_turn_to_receiver.cpp:
	- 首ふり方向を3つの候補から探索するように変更

	* src/role_442_side_half.cpp:
	- シュートチャンス時のルールを修正

	* src/formations-442/defense-formation.conf:
	* src/formations-442/normal-formation.conf:
	* src/formations-442/offense-formation.conf:
	- サイドからのスルーパスを抑えるための調整

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_attacker_offensive_move.h:
	- Breakaway発動のルールを修正．走った後の残りスタミナ値も考慮する
	ようにした

	* src/bhv_get_ball.cpp:
	- ボールを持っている敵の基準位置を調整

	* src/bhv_goalie_free_kick.cpp:
	- キーパーからのフリーキック時に，より安全なパスを選択するように修
	正

	* src/bhv_savior.cpp:
	* src/bhv_savior.h:
	- タックル成功確率計算のバグを修正
	- 追いつけないシュートを打たれた場合に，現在のサイクルでターンすれ
	ばタックルできる可能性があればターンするようにした

	* src/view_tactical.cpp:
	- キーパー用のchange_viewルールを調整

	* src/bhv_get_ball.cpp:
	* src/bhv_get_ball.h:
	- 敵のトラップ基準位置を変更．敵の体の向きを考慮するようにした

	* src/bhv_pass_test2008.cpp:
	* src/bhv_pass_test2008.h:
	- doPassKickFindReceiver()とdoSayPass()を追加して同じ処理をサブルー
	チン化した

	* src/bhv_side_back_aggressive_cross_block.cpp:
	* src/role_442_side_back.cpp:
	- インターセプトの条件を調整

	* src/strategy.cpp:
	- BA_StopperをBA_DefMidFieldと統合した．その代わり，x座標のしきい
	値を-36.5から-35.5へ変更

2009-06-17  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/actgen_through_pass2008.h:
	* src/actgen_through_pass2008.cpp:
	* src/actgen_pass_test_through_pass.h:
	* src/actgen_pass_test_through_pass.cpp:
	* src/strategy.cpp:
	* src/Makefile.am:
	- ActGen_PassTestThroughPass を ActGen_ThroughPass2008 に名称変更

2009-06-17  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	* src/bhv_go_to_cross_point.cpp:
	* src/bhv_go_to_cross_point.h:
	* src/role_442_forward.cpp:
	- Bhv_GoToCrossPointを追加．現時点では，Role442Forwardの
	doGoToCrossPoint()とまったく同じ

	* src/bhv_get_ball.cpp:
	- ブロック位置を調製

	* src/bhv_pass_kick_find_receiver.cpp:
	- 可能であればレシーバとレシーブ位置を同時に確認するようにした

	* src/bhv_pass_test2008.cpp:
	- doRecursiveActionChainGraph()で，Passタイプの場合にレシーバの信
	頼性の低さを解消できなかった場合はホールドするように変更

	* src/bhv_self_pass.cpp:
	- 味方と干渉しにくくなるように調製

	* src/bhv_side_back_danger_move.cpp:
	- シュートブロック位置を調製

	* src/pass_table2009.cpp:
	- レシーブ位置方向の信頼性が低いパスコースはキャンセルするようにし
	た
	- レシーバからマイナス方向のボロノイパスでは，レシーバの到達ステッ
	プ数へより大きなペナルティを与えるようにした

2009-06-16  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_offensive_half_defensive_move.cpp:
	* src/bhv_pre_process.cpp:
	* src/intention_receive.cpp:
	* src/role_side_forward.cpp:
	* src/role_defensive_half.cpp:
	- 使っていないコードを削除

	* src/pass_table2009.cpp:
	- パスターゲット位置の描画色を統一．
	- 自陣内でのレシーバからマイナス方向へのボロノイパスを抑制．本来は，
	フォーメーションの期待値と比較すべき

	* src/bhv_danger_area_tackle.cpp:
	- デバッグ出力を抑制

	* src/bhv_side_back_danger_move.cpp:
	- ブロック位置計算のループ開始距離を調整

2009-06-16  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/actgen_pass_test_through_pass.cpp:
	- 最新の pass_test のものから再作成
	- 2段目以降をうまく探索できていなかったのを修正

	* src/rcsc/player/predict_state.h:
	- dirCount(), dirRangeCount(), audioMemory() を追加，state の時刻に
	よらず現在時点からのカウントを返す

	* src/recursive_action_chain_graph.cpp:
	- 最終結果をログに記録するようにした

	* src/actgen_recursive_level_filter.h:
	- 変数名を変更

	* src/rcsc/player/predict_state.h:
	* src/rcsc/player/field_evaluator.h:
	* src/rcsc/player/action_state_pair.h:
	* src/recursive_action_chain_graph.h:
	* src/Makefile.am:
	- PredictState, ActionStatePair, FieldEvaluator の各クラスを独立した
	別ヘッダに移動

	* src/bhv_pass_test2008.h:
	- 使用していないクラスを削除

2009-06-16  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	* src/rcsc/action/body_go_to_point.h:
	* src/rcsc/action/body_go_to_point2009.cpp:
	* src/rcsc/action/body_go_to_point2009.h:
	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_block_ball_owner.cpp:
	* src/bhv_center_back_danger_move.cpp:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_center_back_stopper_move.cpp:
	* src/bhv_center_half_cross_block_move.cpp:
	* src/bhv_center_half_defensive_move.cpp:
	* src/bhv_defender_basic_block_move.cpp:
	* src/bhv_defensive_half_danger_move.cpp:
	* src/bhv_defensive_half_defensive_move.cpp:
	* src/bhv_get_ball.cpp:
	* src/bhv_go_to_static_ball.cpp:
	* src/bhv_pre_process.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_set_play_kick_in.cpp:
	* src/bhv_shake_off_mark.cpp:
	* src/bhv_side_back_aggressive_cross_block.cpp:
	* src/bhv_side_back_cross_block_move.cpp:
	* src/bhv_side_back_danger_move.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	* src/bhv_side_back_stopper_move.cpp:
	* src/body_forestall_block.cpp:
	* src/rcsc/action/body_intercept2009.cpp:
	* src/role_442_center_back.cpp:
	* src/role_442_forward.cpp:
	* src/role_center_back.cpp:
	* src/role_center_forward.cpp:
	* src/role_side_forward.cpp:
	- Body_GoToPoint2009を追加．全方位移動ダッシュを実装しているが，デ
	フォルトでは無効．body_go_to_point2009.cpp内のUSE_OMNI_DASHを有効
	化すると全方位移動ダッシュが使われるようになる．ただし，実際にはほ
	とんど使われないので，有功にする価値は無い
	- Body_GoToPointをエイリアスに設定
	- 古いBody_GoToPointのコンストラクタ引数を新しいものへ置き換え

	* src/bhv_set_play_indirect_free_kick.cpp:
	- 目標位置がボールに近い場合の不具合を修正

	* src/strategy.cpp:
	- デバッグログへのBallAreaの描画を追加

	* src/bhv_center_back_defensive_move.cpp:
	- GetBallの領域指定が誤っていた不具合を修正

	* src/bhv_get_ball.cpp:
	- 自分の移動予測の精度を改善

	* src/bhv_mark_pass_line.cpp:
	- マーク位置を調整

	* src/bhv_side_back_defensive_move.cpp:
	- GetBall発動のルールを調整

	* src/pass_table2009.cpp:
	- 味方の予測をpredictReceiverReachStepで置き換えた

	* src/rcsc/action/body_clear_ball2009.cpp:
	- 安全角度のしきい値を15度から25度に増やした
	- 探索の深さを3から4に増やした

	* src/rcsc/action/body_intercept2009.cpp:
	- キーパー専用のインターセプト選択ルールを追加

	* src/role_442_center_back.cpp:
	- CrossBlockエリアのキックアクションをクリアに変更

	* src/role_442_forward.cpp:
	- インターセプトのルールを調整

	* src/strategy.cpp:
	- get_defense_line()を無効化

2009-06-15  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	* src/rcsc/action/body_clear_ball.h:
	* src/rcsc/action/body_clear_ball2009.cpp:
	* src/rcsc/action/body_clear_ball2009.h:
	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_breakaway_through_pass.cpp:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_cross_area_kick.cpp:
	* src/bhv_get_ball.cpp:
	* src/bhv_goalie_free_kick.cpp:
	* src/bhv_keep_shoot_chance.cpp:
	* src/bhv_pass_test2008.cpp:
	* src/bhv_penalty_kick.cpp:
	* src/bhv_savior.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/body_kick_to_corner.cpp:
	* src/role_442_center_back.cpp:
	* src/role_442_center_half.cpp:
	* src/role_442_forward.cpp:
	* src/role_442_side_back.cpp:
	* src/role_442_side_half.cpp:
	* src/role_center_back.cpp:
	* src/role_center_forward.cpp:
	* src/role_defensive_half.cpp:
	* src/role_goalie.cpp:
	* src/role_offensive_half.cpp:
	* src/role_sample.cpp:
	* src/role_side_back.cpp:
	* src/role_side_forward.cpp:
	- BodyClearBall2009を追加．現時点での探索アルゴリズムは2008のもの
	とまったく同じだが，一回計算した結果をキャッシュするようにした
	- エイリアスとしてBody_ClearBallを追加

2009-06-15  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_pass_test.h:
	* src/bhv_pass_test.cpp:
	* src/bhv_pass_test2008.h:
	* src/bhv_pass_test2008.cpp:
	* src/Makefile.am
	- パスの実装を切り替えられるよう Bhv_PassTest をエイリアス化し，
	これまでのものは Bhv_PassTest2008 に名称変更した．

	* src/pass_table2009.h:
	* src/pass_table2009.cpp:
	* src/actgen_pass_table_pass.cpp:
	- PassTablePass::passCandidates() を getPassCandidates() に名称変更．

2009-06-15  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/pass_table2009.cpp:
	* src/pass_table2009.h:
	- テスト用にpredictReceiverReachStep()を実装．

	* src/actgen_omnidir_dribble.cpp:
	- 攻撃的な状況以外では，マイナス方向のドリブルを禁止した
	- 自分の一段目のドリブルの場合は角度を16分割にした

	* src/bhv_self_pass.cpp:
	- キーパーのチェックを厳しめにした

	* src/helios_player.cpp:
	- ボール情報とともに敵プレイヤの情報も喋るルールを追加

	* src/bhv_pass_test.cpp:
	- play_on時にのみ，recursiveパスを生成するように変更

	* src/pass_table2009.cpp:
	- DirectPassの最小ステップ数を3に設定

	* src/role_442_forward.cpp:
	- 前方が空いているレシーブ位置へ優先的にパスを出すルールを暫定追加

2009-06-14  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_player.cpp:
	- ボール情報を喋るルールの不具合を修正．

	* src/bhv_self_pass.cpp:
	- デバッグメッセージ修正
	- 自分のターンステップが予測計算に考慮されていなかったバグを修正
	- 敵の体の向きや速度が観測できていない場合に正しく予測できていなかっ
	た不具合を修正

	* src/pass_table2009.cpp:
	- レシーブ位置によってレシーバの到達ステップにペナルティを設定

	* src/actgen_pass_table_pass.cpp:
	- 必要なくなったpass_check()をコメントアウト

	* src/bhv_attacker_offensive_move.cpp:
	- 先回りブロックアクションの発動ルールを調整．

	* src/neck_offensive_intercept_neck.cpp:
	- change_viewのルールを再修正．

	* src/pass_table2009.cpp:
	- SelfPassの生成を暫定的にコメントアウト．
	- レシーブ位置のインデックス更新方法を変更し，失敗するパスも登録す
	るようにした．

	* src/role_442_side_half.cpp:
	- インターセプトのルールを調整．

	* src/pass_table2009.cpp:
	- レシーバの信頼性チェックの誤りを修正．
	- レシーバの信頼性チェックを追加．

	* src/formations-442/Makefile.am:
	* src/formations-442/defense-formation.conf:
	* src/formations-442/offense-formation.conf:
	- offsense-formation.confとdefense-formation.confを，シンボリック
	リンクではなく，個別のファイルとして追加．

	* src/pass_table2009.cpp:
	- VoronoiLeadPassの生成手順を変更
	- 敵の予測で，ターンが必要な場合にのみ，ダッシュサイクルにペナルティ
	を与えるようにした．

	* src/strategy.cpp:
	- ActGen_PassTablePassを有効化
	- ActGen_LeadPass, ActGen_VoronoiPassを無効化

	* src/actgen_direct_pass.cpp:
	* src/actgen_lead_pass.cpp:
	* src/actgen_pass_test_through_pass.cpp:
	* src/actgen_through_pass.cpp:
	* src/actgen_through_pass_2.cpp:
	* src/actgen_voronoi_pass.cpp:
	* src/bhv_pass_test.cpp:
	* src/bhv_savior.cpp:
	* src/rcsc/action/body_intercept2009.cpp:
	* src/rcsc/action/cooperative_action.h:
	* src/rcsc/action/dribble_table2009.cpp:
	* src/recursive_action_chain_graph.cpp:
	- パスタイプをPassに統一
	- 一段目のActGen_DirectPass登録を抑制

	* src/pass_table2009.cpp:
	* src/pass_table2009.h:
	- パスコースの生成順序を変更
	- play_on以外ではSelfPassを生成しないように修正

	* src/pass_table2009.cpp:
	* src/pass_table2009.h:
	- 厳密な敵プレイヤのインターセプト予測を実装．

2009-06-12  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/neck_default_intercept_neck.cpp:
	* src/neck_offensive_intercept_neck.cpp:
	- より安全にインターセプトできるように，change_viewのルールを修正
	してボールを確認しやすくした．
	- キックミス防止のために，トラップ時のボールスピードを考慮するよう
	にした．

	* src/bhv_set_play_indirect_free_kick.cpp:
	- 進入禁止エリアを正しく回避できるように修正．

	* src/bhv_set_play_goal_kick.cpp:
	- 動いているボールの追跡ルールを修正．

	* src/role_442_forward.cpp:
	- コーディングスタイル修正
	- TODOメモ追加

2009-06-11  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.cpp:
	- ゴール近くでのポジショニングで、よりゴールラインに寄る
	ポジショニングも行なうようになった．

	* src/bhv_pass_test.h:
	* src/bhv_pass_test.cpp:
	- リカーシブの評価を最終到達場面を使って評価するよう変更．

	* src/simple_pass_checker.cpp:
	- ボールスピードの遅いパスを通らないものと判定するようにした．

	* src/recursive_action_chain_graph.cpp:
	- モンテカルロ探索のほうを使うようにした．

	* src/strategy.cpp:
	- PassTablePass を使わないように変更．

2009-06-11  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/coach.conf:
	- debug_analyzerとdebug_recursiveを追加．

	* src/bhv_basic_offensive_kick.cpp:
	- パスの発動ルールを修正．

	* src/bhv_pass_test.cpp:
	- 敵が11人見えている場合は方向の信頼性を考慮しないようにした．代わ
	りに，検証する敵の信頼性しきい値を大きくした．

	* src/bhv_savior.cpp:
	- Chaseが発動するルールを修正．

	* src/neck_default_intercept_neck.cpp:
	- デバッグメッセージ追加．

	* src/neck_offensive_intercept_neck.cpp:
	- ボールの信頼性に応じてViewWidthを変更するかどうかを切り替えるよ
	うにした．
	- ボールの信頼性が低い場合はボールを優先的に見るようにした．

	* src/formations-442/normal-formation.conf:
	- 敵にサイドを攻められた状況での配置を修正．

2009-06-10  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/recursive_action_chain_graph.cpp:
	- モンテカルロ探索のように平均的に良い手を選択する探索法を
	  追加し，どちらを選ぶか選択できるようにした．

	* src/body_force_shoot.cpp:
	- ログメッセージ中の余分な空白を削除．

2009-06-10  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_set_play.cpp:
	* src/bhv_set_play_kick_in.cpp:
	- KickIn時のキッカーの判定にフォーメーションを参照するようにした．
	- 自分たちのCornerKickではKickInと同じ行動を取るようにした．

	* src/role_442_center_back.cpp:
	* src/role_442_center_half.cpp:
	* src/role_442_forward.cpp:
	* src/role_442_side_back.cpp:
	* src/role_442_side_half.cpp:
	- キッカブルの判定ルールを修正．数値上はキッカブルエリア内にボール
	が入っており，自分のインターセプトサイクルが大きい場合はキック可能
	と判定するようにした．

	* src/role_442_forward.cpp:
	- クロス実行判定のルールを一部修正．

	* src/role_442_side_half.cpp:
	- doDribbleAttackKick()のパス実行判定のルールを修正．オフサイドラ
	インよりも前に出すパスを優先的に実行するようにした．

	* src/bhv_center_back_stopper_move.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	- インターセプト実行判定のルールを調整．

	* src/view_tactical.cpp:
	- キーパーがボールを常に視界に入れるためのchange_viewルールを追加．

	* src/bhv_set_play.cpp:
	- KickOff時の移動目標位置を自陣内に限定．

2009-06-10  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/pass_checker.h:
	* src/simple_pass_checker.h:
	* src/simple_pass_checker.cpp:
	* src/actgen_pass_table_pass.cpp:
	* src/actgen_direct_pass.cpp:
	* src/actgen_lead_pass.cpp:
	* src/actgen_voronoi_pass.cpp:
	* src/actgen_through_pass.cpp:
	* src/actgen_through_pass_2.cpp:
	- PassChecker でボールスピードを扱うよう引数を追加した。
	- SimplePassChecker でボールスピードを考慮するようにした．

2009-06-09  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_basic_offensive_kick.cpp:
	- ドリブルのスピードを少し大きくした．

	* src/bhv_cross.cpp:
	- 敵の予測を改善．

	* src/bhv_danger_area_tackle.cpp:
	- タックル後にゴールに入ってしまうかどうかを厳密に計算するようにし
	た．
	- タックル後のボール速度方向がゴールに入ってしまう場合であっても，
	ボールのスピードを殺せるタックルは残すようにした．

	* src/bhv_get_ball.cpp:
	- 基準位置を調整．

	* src/bhv_pass_test.cpp:
	- スルーパスのレシーブ位置の条件を少し緩くした．

	* src/bhv_set_play_free_kick.cpp:
	- パスレシーブ位置のチェックを外した．

	* src/bhv_side_back_aggressive_cross_block.cpp:
	- ブロックする範囲を拡大．

	* src/bhv_side_back_defensive_move.cpp:
	- インターセプトの条件をよりアグレッシブなものに調整．
	- 敵のブロックが間に合うかどうかの判定条件を修正．

	* src/formations-442/kickin-our-formation.conf:
	* src/formations-442/normal-formation.conf:
	- サイドハーフのポジションを調整．

	* src/actgen_omnidir_dribble.cpp:
	- ball holderが自分自身の場合はオフサイドを考慮しないように変更．

	* src/bhv_basic_offensive_kick.cpp:
	- パスアクションの発動ルールを修正．

	* src/bhv_danger_area_tackle.cpp:
	- タックル後の予測ボール速度をball_speed_max以内に収めるように修正．
	- 危険と判断するボール速度のしきい値を変更．

	* src/bhv_keep_shoot_chance.cpp:
	- 自分自身へのパスの場合に，レシーブ位置の範囲をより厳しく設定．

	* src/bhv_pass_test.cpp:
	- through passの最小ボールスピードのしきい値を小さくした．
	- through passの探索角度範囲を大きくした．
	- through passの検証で，敵プレイヤの移動予測で慣性移動分を少し厳密
	に考慮するようにした．
	- recursive_action_chainでチェイン数が1のドリブルを状況に応じて破
	棄するようにした．非常にアドホックな対応なのが問題．

	* src/bhv_savior.cpp:
	- キャッチ判定で自分の位置を考慮していなかった不具合を修正．

	* src/fixed_pass_course_table.cpp:
	- シュートの成功判定を厳しくした．

	* src/bhv_attacker_offensive_move.cpp:
	- フォワードがオフサイドラインに張り付いてしまう不具合を修正．

	* src/recursive_action_chain_graph.cpp:
	- デバッグ出力抑制．

	* src/role_442_forward.cpp:
	- パスを実行するかどうかの敵との距離判定を調整．

	* src/strategy.cpp:
	- ActGen_OmnidirDribbleの最大負荷差を2から1へ変更．．

	* src/formations-442/normal-formation.conf:
	- センターハーフの配置を攻撃的に修正．

2009-06-08  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_pass_test.cpp:
	- パス結果の評価に Strategy で定義されている FieldEvaluator を
	使用することができるようにした．
	ただし、現在デフォルトではオフにしてあるので，挙動はこれまで
	どおりのまま．有効にするためには、先頭部分の
	USE_COMMON_FIELD_EVALUATOR の define を有効にする必要がある．

	* src/strategy.cpp:
	* src/strategy.h:
	- FieldEvaluator を元のものと PassTestFieldEvaluator で
	切り替えられるようにした。

2009-06-06  Hiroki Shimora  <shimora@users.sourceforge.net>

	* recursive_action_chain_graph.h:
	* recursive_action_chain_graph.cpp:
	* actgen_direct_pass.cpp:
	* actgen_lead_pass.cpp:
	* actgen_voronoi_pass.cpp:
	* actgen_pass_test_through_pass.cpp:
	* actgen_through_pass_2.cpp:
	* actgen_through_pass.cpp:
	- PredictState 中のプレイヤ情報を実体ではなくポインタを
	保持するよう変更．

	* src/recursive_action_chain_graph.h:
	* src/recursive_action_chain_graph.cpp:
	* src/actgen_direct_pass.cpp:
	* src/actgen_lead_pass.cpp:
	* src/actgen_voronoi_pass.cpp:
	* src/actgen_through_pass.cpp:
	* src/actgen_through_pass_2.cpp:
	* src/actgen_pass_test_through_pass.cpp:
	* src/actgen_dribble_forward.cpp:
	* src/actgen_omnidir_dribble.cpp:
	* src/actgen_shoot.cpp:
	* src/actgen_ball_pos_geometry_filter.h:
	* src/actgen_pass_table_pass.cpp:
	- ActionStatePair で Action と State を実体ではなくポインタを
	保持するよう変更．

	* src/recursive_action_chain_graph.cpp:
	* src/pass_course_table.cpp:
	* src/fixed_pass_course_table.cpp:
	* src/actgen_direct_pass.cpp:
	* src/actgen_voronoi_pass.cpp:
	* src/actgen_lead_pass.cpp:
	* src/actgen_through_pass.cpp:
	* src/actgen_through_pass_2.cpp:
	* src/actgen_pass_test_through_pass.cpp:
	- プレイヤー番号として使っていた -1 を rcsc::Unum_Unknown に修正．

2009-06-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/pass_table2009.cpp:
	- CooperativeActionのコンストラクタ引数の順番間違いのためにパスス
	ピードがおかしくなっていたバグを修正．

	* src/actgen_omnidir_dribble.cpp:
	* src/actgen_shoot.cpp:
	* src/recursive_action_chain_graph.cpp:
	- デバッグ出力を抑制．

2009-06-04  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/strategy.cpp:
	- ActGen_{LeadPass,VoronoiPass}を探索対象から削除し、
	その代わりにチェック用の PassTable 行動生成器を使うように変更．
	- 2段の PassTestThroughPass を探索対象から削除．

	* src/actgen_pass_table_pass.h:
	* src/actgen_pass_table_pass.cpp:
	* src/pass_table2009.h:
	* src/pass_table2009.cpp:
	* src/Makefile.am:
	* src/strategy.cpp:
	- チェック用として PassTable を使ったパス生成を行う行動生成器を追加．

	* src/rcsc/player/predict_player_object.h:
	* src/predict_player_object.h:
	* src/Makefile.am:
	* src/recursive_action_chain_graph.h:
	- predict_player_object.h を rcsc/player/ に移動．

	* src/rcsc/action/cooperative_action.h:
	* src/recursive_action_chain_graph.h:
	* src/recursive_action_chain_graph.cpp:
	* src/pass_table2009.h:
	* src/pass_table2009.cpp:
	* src/bhv_pass_test.cpp:
	* src/rcsc/action/dribble_table2009.cpp:
	* src/rcsc/action/dribble_table2009.h:
	* src/bhv_savior.cpp:
	- CooperativeAction を rcsc/action/cooperative_action.h に統一．

2009-06-04  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_deflecting_tackle.cpp:
	- 評価関数を修正．

	* src/rcsc/action/body_intercept2009.cpp:
	- wait turn時にボールのノイズを考慮するように修正．
	- 慣性移動による位置修正でサイドダッシュを考慮するように修正．

2009-06-03  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_basic_tackle.cpp:
	* src/bhv_danger_area_tackle.cpp:
	* src/bhv_deflecting_tackle.cpp:
	* src/bhv_deflecting_tackle.h:
	* src/bhv_savior.cpp:
	- タックル効果率の計算誤りを修正．
	- タックル後のボールスピードがball_speed_max以下に制限されていなかっ
	た不具合を修正．

	* src/Makefile.am:
	* src/rcsc/action/dribble_table2009.cpp:
	* src/rcsc/action/dribble_table2009.h:
	- DribbleTable2009を追加．ただし，まだ何も実装していない．

	* src/Makefile.am:
	* src/rcsc/action/cooperative_action.h:
	* src/rcsc/player/field_analyzer.cpp:
	* src/rcsc/player/field_analyzer.h:
	* src/field_analyzer.cpp:
	* src/field_analyzer.h:
	* src/actgen_voronoi_pass.cpp:
	* src/bhv_side_back_aggressive_cross_block.cpp:
	* src/bhv_side_back_cross_block_move.cpp:
	* src/bhv_side_back_danger_move.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	* src/helios_player.cpp:
	* src/pass_table2009.cpp:
	- librcscへの移植を想定して構成を変更．

	* src/bhv_center_back_danger_move.cpp:
	* src/neck_offensive_intercept_neck.cpp:
	* src/rcsc/action/body_intercept2009.cpp:
	- インターセプトのルールを調整．
	- インターセプト選択において，敵の到達ステップのチェックルールを変
	更．

	* src/rcsc/action/Makefile:
	* src/rcsc/player/Makefile:
	- srcディレクトリへ登ってmakeするだけのMakefileを追加。

	* src/Makefile.am:
	* src/rcsc/action/body_clear_ball2008.cpp:
	* src/rcsc/action/body_clear_ball2008.h:
	* src/rcsc/player/player_evaluator.h:
	* src/test/body_clear_ball_test.cpp:
	* src/body_clear_ball2008.cpp:
	* src/body_clear_ball2008.h:
	* src/body_clear_ball_test.cpp:
	* src/player_evaluator.h:
	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_goalie_free_kick.cpp:
	* src/bhv_penalty_kick.cpp:
	* src/bhv_savior.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/pass_table2009.cpp:
	* src/role_442_center_back.cpp:
	* src/role_442_center_half.cpp:
	* src/role_442_forward.cpp:
	* src/role_442_side_half.cpp:
	* src/role_center_back.cpp:
	* src/role_center_forward.cpp:
	* src/role_defensive_half.cpp:
	* src/role_goalie.cpp:
	* src/role_offensive_half.cpp:
	* src/role_side_forward.cpp:
	* src/world_model_ext.h:
	- body_clear_ball2008.{h,cpp}をサブディレクトリへ移動．
	- player_evaluator.hをサブディレクトリへ移動．

	* src/Makefile.am:
	* src/rcsc/action/body_dribble.h:
	* src/rcsc/action/body_hold_ball.h:
	* src/rcsc/action/body_intercept.h:
	* src/rcsc/action/body_intercept2009.cpp:
	* src/rcsc/action/body_intercept2009.h:
	- ライブラリ開発テスト用のサブディレクトリを作成．

	* src/bhv_pass_test.cpp:
	- ライブラリから無くなったヘッダを削除．

2009-06-02  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/train.sh:
	* src/train-offline.sh:
	- トレーナ用のスクリプトを修正．
	- オフラインクライアントモード用のスクリプトを暫定追加．

2009-06-02  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/recursive_action_chain_graph.h:
	* src/recursive_action_chain_graph.cpp:
	* src/pass_table2009.h:
	* src/pass_table2009.cpp:
	* src/bhv_pass_test.cpp:
	* src/actgen_direct_pass.cpp:
	* src/actgen_lead_pass.cpp:
	* src/actgen_voronoi_pass.cpp:
	* src/actgen_through_pass.cpp:
	* src/actgen_through_pass_2.cpp:
	* src/actgen_pass_test_through_pass.cpp:
	* src/actgen_shoot.cpp:
	* src/bhv_savior.cpp:
	- PassTable と RecursiveActionChainGraph の CooperativeAction を
	マージするための予備修正．

	* src/pass_table2009.h:
	* src/pass_table2009.cpp:
	- PassTable::CooperativeAction を構造体からクラスに変更．

	* src/strategy.cpp:
	- スルーパスを再帰探索から除外．

	* src/bhv_pass_test.h:
	* src/bhv_pass_test.cpp:
	- 2度計算しているところを1度にするよう修正．

2009-06-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/field_analyzer.cpp:
	* src/field_analyzer.h:
	* src/pass_table2009.cpp:
	- predict_player_reach_cycle()にwait_cycle引数を追加．

	* src/neck_offensive_intercept_neck.cpp:
	- ボール確認のための信頼性しきい値を設定．

	* src/bhv_offensive_half_offensive_move.cpp:
	* src/bhv_side_back_aggressive_cross_block.cpp:
	* src/neck_default_intercept_neck.cpp:
	- インターセプト判定の条件を調整．

	* src/bhv_get_ball.cpp:
	* src/field_analyzer.cpp:
	- turnサイクル予測のバグを修正．

	* src/pass_table2009.cpp:
	- SelfPassのコース生成において，自分と味方プレイヤの到達ステップを
	比較する際に味方の方へペナルティを設定．

2009-05-31  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_get_ball.cpp:
	- ゴール前でのブロック位置を調整．

	* src/actgen_pass_test_through_pass.cpp:
	* src/bhv_pass_test.cpp:
	- デバッグ出力をタイプごとに整理．

	* src/pass_test_field_evaluator.cpp:
	- コンパイラのwarningに対応．

	* src/actgen_pass_test_through_pass.cpp:
	- デバッグ出力を抑制．

	* src/helios_player.cpp:
	* src/pass_table2009.cpp:
	* src/pass_table2009.h:
	- createSelfPass()を追加．

	* src/bhv_side_back_aggressive_cross_block.cpp:
	* src/bhv_side_back_cross_block_move.cpp:
	* src/bhv_side_back_danger_move.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	* src/field_analyzer.cpp:
	* src/field_analyzer.h:
	- predict_self_reach_cycle()を修正．引数にwait_cycleを追加．

	* src/pass_table2009.cpp:
	* src/pass_table2009.h:
	- パスコース生成ルーチンのバグフィックス．

	* src/field_analyzer.cpp:
	- predict_player_reach_cycle()を改善．

	* bhv_pass_test.cpp:
	- デバッグ出力を抑制．

2009-05-29  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/pass_table2009.cpp:
	- createVoronoiLeadPass()を実装中．一部は動くようになった．

	* src/field_analyzer.cpp:
	- predict_player_reach_cycle()のバグ修正．

2009-05-28  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/pass_table2009.cpp:
	* src/pass_table2009.h:
	- PassTable::createDirectLeadPass()を実装．
	- PassTable::createVoronoiLeadPass()を実装中．
	- CooperativeAction::M_ball_reach_step を追加．

	* src/field_analyzer.cpp:
	- predict_player_reach_cycle()を改善．

	* src/player.conf:
	* src/start.sh.in:
	- librcscの変更に追従．
	- offline client機能をサポート

2009-05-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/formations-433/indirect-freekick-opp-formation.conf:
	* src/formations-442/indirect-freekick-opp-formation.conf:
	* src/formations-442d/indirect-freekick-opp-formation.conf:
	- 間接フリーキックのポジションの不具合を修正．

2009-05-25  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/pass_test_field_evaluator.h:
	* src/pass_test_field_evaluator.cpp:
	* Makefile.am:
	- pass_test の評価関数を FieldEvaluator に移植．

	* src/bhv_savior.cpp:
	- 前に出る距離を減らした．

	* src/bhv_savior_chase_ball.cpp:
	- 使用していないファイルを削除．

2009-05-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_pass_test.cpp:
	- 目標位置にスコアの値に応じた色で塗りつぶし円を出力するようにした．

	* src/field_analyzer.cpp:
	* src/field_analyzer.h:
	- FieldAnalyzer::opponentsVoronoiDiagram()を削除し，
	passVoronoiDiagram()に統一．
	- passVoronoiDiagram()の頂点として敵プレイヤ以外の固定点を追加．

	* src/pass_table2009.cpp:
	- PlayerEvaluatorComparatorを使ったコードを削除．

	* src/actgen_direct_pass.cpp:
	- デバッグ出力を抑制．

2009-05-25  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/player_evaluator.h:
	- PlayerEvaluatorComparator のバグを修正．
	- コーディングスタイルを修正．
	- BallControllableDistancePlayerEvaluator の goalie チェックを厳密化．

2009-05-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_basic_move.cpp:
	- インターセプトの条件を調整．

	* src/helios_player.cpp:
	- PassTable2009::update()の呼び出しを追加．

	* src/pass_table2009.cpp:
	* src/pass_table2009.h:
	- いくつかのバグ修正．
	- std::partial_sort()部分で落ちていたため，get_nearest_players()を
	追加して代替．

	* src/actgen_voronoi_pass.cpp:
	- VoronoiDiagram::getPointsOnSegments(),
	FieldAnalyzer::passVoronoiDiagram()を使って再実装．

	* src/field_analyzer.cpp:
	* src/field_analyzer.h:
	- FieldAnalyzer::passVoronoiDiagram()を追加．
	- opponentsVoronoiDiagram()とpassVoronoiDigram()に制約矩形を設定．

	* src/player_evaluator.h:
	- 不要な名前空間を削除．

	* src/fixed_pass_course_table.cpp:
	* src/fixed_pass_course_table.h:
	* src/pass_course_table.cpp:
	* src/pass_course_table.h:
	- typoを修正．

2009-05-24  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/actgen_voronoi_pass.cpp:
	- VoronoiDiagram::setBoundingRect()を使って書き替えた．

	* src/pass_table2009.h:
	* src/pass_table2009.cpp:
	- ボロノイパスを追加．

	* src/player_evaluator.h:
	* src/world_model_ext.h:
	* src/pass_course_table.cpp:
	* src/fixed_pass_course_table.cpp:
	* src/actgen_dribble_forward.cpp:
	* src/body_clear_ball2008.cpp:
	- PlayerEvaluator のネームスペースを rcsc にした．
	- 距離の二乗を評価として返す evaluator，
	SquaredDistFromPosPlayerEvaluator を追加．

	* src/field_analyzer.h:
	* src/field_analyzer.cpp:
	- プレイヤーが何ターンでその位置まで辿りけるかを計算するメソッド
	predict_player_reach_cycle() を追加．

2009-05-24  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	* src/pass_table2009.cpp:
	* src/pass_table2009.h:
	- パスコース探索のキャッシュとして，PassTable2009クラスを追加．た
	だし，まだ殆どほとんど実装できていない．

	* src/predict_player_object.h:
	- isTackling()を追加．

	* src/bhv_mark_pass_line.cpp:
	- 使っていないコードを削除．

	* src/bhv_side_back_aggressive_cross_block.cpp:
	- Neck_TurnToBallOrScanのボール信頼性しきい値を設定．

	* src/bhv_side_back_defensive_move.cpp:
	- デバッグメッセージを修正．

	* src/mark_table.cpp:
	* src/mark_table.h:
	- self_ を player_ にリネーム．
	- AssignmentをCombinationにリネーム．
	- マーク対象の敵プレイヤの範囲を調整．
	- デバッグメッセージを修正．

	* src/formations-433/indirect-freekick-opp-formation.conf:
	* src/formations-442/indirect-freekick-opp-formation.conf:
	* src/formations-442d/indirect-freekick-opp-formation.conf:
	- 間接フリーキックのポジションの不具合を修正．

	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_side_back_aggressive_cross_block.cpp:
	* src/bhv_side_back_stopper_move.cpp:
	- インターセプトの条件を調整．

	* src/role_442_forward.cpp:
	- 使っていないコードを削除．

	* src/role_442_side_back.cpp:
	- デバッグメッセージ追加．

	* src/player_graph.cpp:
	* src/player_graph.h:
	- 同一の位置座標が入力されないように，三角形分割への入力座標値に小
	さい乱数を加えるようにした．

	* src/strategy.cpp:
	- 442ダイアモンド用の役割ファクトリを追加．

2009-05-24  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/actgen_pass_test_through_pass.cpp:
	* src/actgen_pass_test_through_pass.h:
	* src/strategy.cpp:
	* src/Makefile.am:
	- リカーシブ用 pass_test のスルーパスを追加．

2009-05-23  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/player.conf:
	- 'debug_analyzer'と'debug_recursive'のスイッチを追加．

2009-05-23  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/recursive_action_chain_graph.cpp:
	* src/actgen_direct_pass.cpp:
	* src/actgen_voronoi_pass.cpp:
	* src/actgen_dribble_forward.cpp:
	* src/actgen_omnidir_dribble.cpp:
	* src/actgen_through_pass.cpp:
	* src/actgen_through_pass_2.cpp:
	* src/actgen_shoot.cpp:
	- ログのカテゴリを RECURSIVE に変更．

2009-05-22  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/role_442_side_back.cpp:
	- Neck_TurnToBallOrScanのボール信頼性カウントを設定．

2009-05-22  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/default_field_evaluator.cpp:
	- オフサイドライン付近での評価を修正．

	* src/actgen_shoot.cpp:
	- リカーシブのシュートの1段目を検索対象から外した．

2009-05-21  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/actgen_shoot.h:
	* src/actgen_shoot.cpp:
	* src/strategy.cpp:
	* src/Makefile.am:
	- リカーシブパスの検索にシュートを追加．

	* src/recursive_action_chain_graph.h:
	* src/recursive_action_chain_graph.cpp:
	* src/actgen_shoot.cpp:
	* src/actgen_through_pass.cpp:
	* src/actgen_through_pass_2.cpp:
	* src/actgen_direct_pass.cpp:
	* src/actgen_lead_pass.cpp:
	* src/actgen_voronoi_pass.cpp:
	- 協調アクションにインスタンス単位で final 属性を追加．
	final と指定されたアクションに続くアクションは検索されなくなる．
	- シュート、スルーパスのアクションを final と指定．

	* src/default_field_evaluator.cpp:
	- 自軍ゴール範囲を微修正．

2009-05-21  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	* src/player_graph.cpp:
	* src/player_graph.h:
	* src/field_analyzer.cpp:
	* src/field_analyzer.h:
	* src/helios_player.cpp:
	- プレイヤの接続を参照するためのPlayerGraphクラスを追加．
	- すべてのプレイヤのボロノイ図，味方のみのボロノイ図，敵のみのボロ
	ノイ図，キーパーを除いたプレイヤのDelaunay三角形分割によるグラフを
	FieldAnalzyerに追加．

	* src/strategy.cpp:
	- デバッグ出力を抑制．

	* src/formations-442/kickin-our-formation.conf:
	- コーナーキック時のキッカー候補の位置を調整．

	* src/bhv_basic_offensive_kick.cpp:
	- パスの実行後にreturnしていなかったバグを修正．

2009-05-21  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/recursive_action_chain_graph.h:
	* src/recursive_action_chain_graph.cpp:
	- 状態の遷移とログ書き出しのバグを修正．
	- ボールだけ移動させた状態を作るためのコンストラクタを追加．

	* src/default_field_evaluator.cpp:
	- ゴール時の評価チェックを追加．
	- 使用していないコードの削除．

	* src/actgen_direct_pass.cpp:
	- デバッグログを追加．

	* actgen_omnidir_dribble.cpp:
	- コーディングスタイルを修正．

2009-05-21  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/actgen_omnidir_dribble.cpp:
	* src/bhv_savior.cpp:
	- ContainsPlayerPredicateをlibrcscへ移動．

	* src/coach.conf:
	- use_team_graphicをデフォルトで無効化．

	* src/Makefile.am:
	* src/defense_system.cpp:
	* src/defense_system.h:
	* src/field_analyzer.cpp:
	* src/field_analyzer.h:
	* src/bhv_side_back_aggressive_cross_block.cpp:
	* src/bhv_side_back_cross_block_move.cpp:
	* src/bhv_side_back_danger_move.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	- DefenseSystemクラスを削除し，代わりにFieldAnalyzerクラスを追加．
	ボロノイパス，マーク分析などもここへ集約する予定．

	* src/actgen_omnidir_dribble.cpp:
	- プレイモードチェックでPlayOn以外の場合はすべてキャンセルすること
	にした．

	* src/fixed_pass_course_table.h:
	- コンパイラの警告を回避するためにCourseSelectionのコンストラクタ
	を追加．

	* src/formations-442/kickin-our-formation.conf:
	- コーナーキック時のキッカーとなるべきプレイヤの位置を調整．

2009-05-20  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/train.sh:
	* src/formations-train:
	* src/formations-train/before-kick-off.conf:
	* src/formations-train/defense-formation.conf:
	* src/formations-train/goal-kick-opp.conf:
	* src/formations-train/goal-kick-our.conf:
	* src/formations-train/goalie-catch-opp.conf:
	* src/formations-train/goalie-catch-our.conf:
	* src/formations-train/goalie-formation.conf:
	* src/formations-train/indirect-freekick-opp-formation.conf:
	* src/formations-train/indirect-freekick-our-formation.conf:
	* src/formations-train/kickin-our-formation.conf:
	* src/formations-train/normal-formation.conf:
	* src/formations-train/offense-formation.conf:
	* src/formations-train/setplay-opp-formation.conf:
	* src/formations-train/setplay-our-formation.conf:
	* src/formations-train/train-formation:
	- トレーナを使った調整用のフォーメーションを追加．

	* src/helios_trainer.cpp:
	- インターセプト調整用にルールを調整．

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_basic_move.cpp:
	* src/bhv_block_ball_owner.cpp:
	* src/bhv_block_dribble.cpp:
	* src/bhv_center_back_danger_move.cpp:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_center_back_stopper_move.cpp:
	* src/bhv_center_half_cross_block_move.cpp:
	* src/bhv_center_half_defensive_move.cpp:
	* src/bhv_defender_basic_block_move.cpp:
	* src/bhv_defensive_half_danger_move.cpp:
	* src/bhv_defensive_half_defensive_move.cpp:
	* src/bhv_get_ball.cpp:
	* src/bhv_goalie_basic_move.cpp:
	* src/bhv_goalie_chase_ball.cpp:
	* src/bhv_mark_pass_line.cpp:
	* src/bhv_offensive_half_defensive_move.cpp:
	* src/bhv_offensive_half_offensive_move.cpp:
	* src/bhv_penalty_kick.cpp:
	* src/bhv_pre_process.cpp:
	* src/bhv_savior.cpp:
	* src/bhv_savior_chase_ball.cpp:
	* src/bhv_self_pass.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_shake_off_mark.cpp:
	* src/bhv_side_back_aggressive_cross_block.cpp:
	* src/bhv_side_back_cross_block_move.cpp:
	* src/bhv_side_back_danger_move.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	* src/bhv_side_back_stopper_move.cpp:
	* src/bhv_their_goal_kick_move.cpp:
	* src/body_forestall_block.cpp:
	* src/intention_receive.cpp:
	* src/role_442_center_back.cpp:
	* src/role_442_center_half.cpp:
	* src/role_442_forward.cpp:
	* src/role_442_side_back.cpp:
	* src/role_442_side_half.cpp:
	* src/role_center_back.cpp:
	* src/role_center_forward.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_sample.cpp:
	* src/role_side_back.cpp:
	* src/role_side_forward.cpp:
	- インターセプトをBody_Interceptに統一．

	* src/actgen_omnidir_dribble.cpp:
	- ドリブル目標位置のフィールド内判定のバグを修正

	* src/actgen_voronoi_pass.cpp:
	- ボロノイ図の頂点としてunknonwプレイヤも追加．
	- ボロノイ図の頂点として扱うプレイヤの信頼性とghostを無視．
	- Ray上のパス目標位置を生成するコードを追加．

	* src/simple_pass_checker.cpp:
	- 敵の判定でunknownプレイヤを含めるように修正．

	* src/actgen_voronoi_pass.cpp:
	- パス候補位置のキャッシュがクリアされていなかった不具合を修正．
	- パス候補位置のデバッグ描画を追加．

2009-05-19  Hiroki Shimora  <shimora@users.sourceforge.net>

        * src/actgen_voronoi_pass.cpp:
        キャッシュの保持の仕方を変更し複数回計算していた部分の計算を減らした．

2009-05-15  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/recursive_action_chain_graph.h:
	- PredictState に WorldModel との互換性のためのメソッドを
	  いくつか追加

	* src/actgen_through_pass_2.cpp:
	* src/actgen_lead_pass.cpp:
	* src/actgen_through_pass.cpp:
	- コーディングスタイル等の細かな修正

2009-05-13  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_block_ball_kicker.cpp:
	* src/bhv_block_ball_kicker.h:
	* src/bhv_block_side_attack.cpp:
	* src/bhv_block_side_attack.h:
	* src/bhv_defender_get_ball.cpp:
	* src/bhv_defender_get_ball.h:
	* src/bhv_line_defense.cpp:
	* src/bhv_line_defense.h:
	* src/bhv_mark_close_opponent.cpp:
	* src/bhv_mark_close_opponent.h:
	* src/bhv_press.cpp:
	* src/bhv_press.h:
	* src/body_clear_ball_test.h:
	- removed.

	* src/Makefile.am:
	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_attacker_offensive_move.h:
	* src/bhv_basic_move.cpp:
	* src/bhv_basic_move.h:
	* src/bhv_center_back_danger_move.cpp:
	* src/bhv_center_back_stopper_move.cpp:
	* src/bhv_defender_basic_block_move.cpp:
	* src/bhv_defender_basic_block_move.h:
	* src/bhv_keep_shoot_chance.cpp:
	* src/bhv_mark_pass_line.h:
	* src/bhv_offensive_half_defensive_move.cpp:
	* src/bhv_offensive_half_offensive_move.cpp:
	* src/bhv_pass_test.cpp:
	* src/bhv_side_back_stopper_move.cpp:
	* src/body_advance_ball_test.cpp:
	* src/body_force_shoot.cpp:
	* src/role_442_center_back.cpp:
	* src/role_442_center_back.h:
	* src/role_442_center_half.cpp:
	* src/role_442_center_half.h:
	* src/role_442_forward.cpp:
	* src/role_442_side_back.cpp:
	* src/role_442_side_back.h:
	* src/role_442_side_half.cpp:
	* src/role_442_side_half.h:
	* src/role_center_back.cpp:
	* src/role_center_back.h:
	* src/role_center_forward.cpp:
	* src/role_center_forward.h:
	* src/role_defensive_half.cpp:
	* src/role_defensive_half.h:
	* src/role_offensive_half.cpp:
	* src/role_offensive_half.h:
	* src/role_sample.cpp:
	* src/role_side_back.cpp:
	* src/role_side_back.h:
	* src/role_side_forward.cpp:
	* src/role_side_forward.h:
	* src/strategy.cpp:
	- removed obsolete code.
	- ホームポジションの取得方法を統一

2009-05-10  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_coach.cpp:
	- ヘテロの割り当てでフォワードに足が速いタイプを割り当てるように修
	正

	* src/bhv_center_back_defensive_move.cpp:
	- 状況に応じて逆サイドのスルーパスもブロックするルールを追加

	* src/role_442_center_half.cpp:
	- OffMidエリアの動作をBhv_OffensiveHalfOffensiveMoveに変更

	* src/role_442_center_half.cpp:
	- インターセプトのルールを調整

	* src/role_442_forward.cpp:
	- 敵ゴール前で味方プレイヤが存在しないスペースへ移動するルールを追
	加

	* src/bhv_attacker_offensive_move.cpp:
	- 味方プレイヤの存在チェック範囲を調整

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_attacker_offensive_move.h:
	- 味方ボールの状況でボール所有者と自分の間に他の味方プレイヤが存在
	しない場合に目標y座標を修正するルールを追加．

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_attacker_offensive_move.h:
	- コードを整理．移動目標の決定ルールを若干変更．

	* src/bhv_center_half_defensive_move.cpp:
	- インターセプトの条件を調整

	* src/Makefile.am:
	* src/bhv_cross_area_kick.cpp:
	* src/bhv_cross_area_kick.h:
	* src/role_442_side_half.cpp:
	* src/role_442_side_half.h:
	- 433サイドフォワードからCrossAreaのキックアクションを抜きだし，個
	別アクション化．442サイドハーフで使用．

	* src/strategy.cpp:
	- コマンド落ちすることがあったので，ActGen_ThroughPassを無効化

2009-05-09  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.cpp:
	- 緊急飛び出しの判定を元に戻し、あまり飛び出さないようにした。

2009-05-09  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_attacker_offensive_move.cpp:
	- breakawayの条件を修正

	* src/role_442_center_half.cpp:
	- インターセプトの条件を調整

	* src/bhv_pass_test.cpp:
	- スルーパスのダッシュサイクルバッファを調整

2009-05-09  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/recursive_action_chain_graph.cpp:
	- デバッグサーバに送るデバッグ情報を一部変更

	* src/recursive_action_chain_graph.h:
	- CooperativeAction に味方チームプレイヤの移動情報のコンテナ
	  SupportPlayerMovesCont を追加

	* src/actgen_through_pass_2.cpp:
	- コース生成のバグを修正

2009-05-09  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/formations-442/normal-formation.conf:
	- 敵ペナルティエリア周辺へより密集するように攻撃布陣を調整

	* src/bhv_attacker_offensive_move.cpp:
	- breakawayの条件で，自分から味方のトラップ位置までの角度チェック
	を修正

	* src/bhv_block_ball_kicker.cpp:
	* src/bhv_center_back_danger_move.cpp:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_center_back_stopper_move.cpp:
	* src/bhv_defender_get_ball.cpp:
	* src/bhv_defensive_half_defensive_move.cpp:
	* src/bhv_mark_close_opponent.cpp:
	* src/bhv_press.cpp:
	* src/bhv_shake_off_mark.cpp:
	* src/bhv_side_back_cross_block_move.cpp:
	* src/bhv_side_back_danger_move.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	* src/bhv_side_back_stopper_move.cpp:
	* src/intention_receive.cpp:
	* src/neck_default_intercept_neck.h:
	* src/role_442_center_back.cpp:
	* src/role_442_center_half.cpp:
	* src/role_442_side_half.cpp:
	* src/role_center_back.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_side_back.cpp:
	- 使わなくなった NO_USE_NECK_DEFAULT_INTERCEPT_NECK のコードを削除

	* src/neck_offensive_intercept_neck.cpp:
	- 使っていないコードを削除

	* src/bhv_center_half_defensive_move.cpp:
	- GetBallの範囲を調整

	* src/bhv_pass_test.cpp:
	- ダッシュステップのバッファを調整

	* src/simple_pass_checker.cpp:
	- デバッグ出力を抑制．

	* src/neck_turn_to_receiver.cpp:
	- 自分へのパスの場合にScanFieldを実行するように修正．

	* src/recursive_action_chain_graph.cpp:
	- デバッグ出力を抑制．

2009-05-08  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/actgen_through_pass.cpp:
	* src/actgen_through_pass_2.cpp:
	* src/actgen_voronoi_pass.cpp:
	* src/pass_course_table.cpp:
	- デバッグ出力を抑制

	* src/role_442_forward.cpp:
	* src/role_442_forward.h:
	- removed unused code.

2009-05-08  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/recursive_action_chain_graph.h:
	* src/recursive_action_chain_graph.cpp:
	* src/actgen_direct_pass.cpp:
	* src/actgen_lead_pass.cpp:
	* src/actgen_voronoi_pass.cpp:
	* src/actgen_through_pass.cpp:
	* src/actgen_through_pass_2.cpp:
	* src/actgen_omnidir_dribble.cpp:
	* src/actgen_dribble_forward.cpp:
	* src/actgen_ball_pos_geometry_filter.h:
	* src/bhv_pass_test.cpp:
	* src/default_field_evaluator.cpp:
	* src/simple_pass_checker.cpp:
	- PredictState::spendTime() を追加し、その State が現在から
	  何ステップ後の状態かを取得できるようにした．
	- PredictState のアクセサ名で先頭に get がついていたものとついて
	  いなかったものがあったのを統一した．

	* src/actgen_voronoi_pass.cpp:
	- 使っていないコードを削除した．

	* src/simple_pass_checker.cpp:
	- パスチェックを通さないための自軍ゴール前エリアを拡大した．

2009-05-08  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_center_half_cross_block_move.cpp:
	* src/bhv_side_back_aggressive_cross_block.cpp:
	- 欠けていた首振り動作を追加
	- サイドバックのGetBall範囲を調整

	* src/Makefile.am:
	* src/bhv_center_half_cross_block_move.cpp:
	* src/bhv_center_half_defensive_move.cpp:
	* src/bhv_center_half_defensive_move.h:
	* src/role_442_center_half.cpp:
	- Bhv_CenterHalfDefensiveMoveを追加．
	Bhv_DefensiveHalfDefensiveMoveとほぼ同一だが，GetBallの対象領域が
	修正されている．
	- Bhv_CenterHalfCrossBlockMoveのマーク位置を調整．

	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_pass_test.cpp:
	- センターバックのディフェンスライン調整アルゴリズムをサイドバック
	と同じルールに修正し，不用意なライン上げを抑制した．
	- スルーパスの検証において，レシーバの到達ステップバッファを2.0か
	ら3.0へ変更.

	* src/Makefile.am:
	* src/bhv_center_half_cross_block_move.cpp:
	* src/bhv_center_half_cross_block_move.h:
	* src/bhv_center_half_cross_block_move.cpp:
	* src/role_442_center_half.cpp:
	* src/role_442_side_back.cpp:
	- 主に442CenterHalfのマーク動作としてBhv_CenterHalfCrossBlockMove
	を追加..
	- Bhv_SideBackAggressiveCrossBlockを使用するように変更.

2009-05-07  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	* src/bhv_side_back_aggressive_cross_block.cpp:
	* src/bhv_side_back_aggressive_cross_block.h:
	* src/role_442_center_half.cpp:
	* src/role_442_center_half.h:
	* src/role_442_side_back.cpp:
	* src/role_442_side_back.h:
	- Bhv_SideBackAggressiveCrossBlockを追加.ただし，実装とテストは不
	完全.
	- 使っていないソースを削除した.

	* src/actgen_omnidir_dribble.cpp:
	- dir_candidates.reserve()を追加
	- dribble_targetのフィールド矩形範囲のバッファを2.0から3.0へ変更

	* src/role_442_side_half.cpp:
	- inserted SelfPass action in DribbleAttack area.

2009-05-06  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/pass_course_table.cpp:
	* src/fixed_pass_course_table.cpp:
	- changed dribble check to inhibit dribble from backward.

	* src/default_field_evaluator.cpp:
	- changed evaluation concern with dribble.

	* src/actgen_ball_pos_geometry_filter.h:
	- added a new action generator filter to restrict candidate
	  by ball position.

	* src/actgen_through_pass.cpp:
	- fixed a bug of offside line checking.
	- added candidates.

	* src/actgen_lead_pass.cpp:
	- allowed self lead pass.

	* src/bhv_pass_test.cpp:
	- changed dribble count.

	* src/actgen_through_pass_2.h:
	* src/actgen_through_pass_2.cpp:
	* src/strategy.cpp:
	* src/Makefile.am:
	- added Actgen_ThroughPass2.

	* src/bhv_basic_move.cpp:
	- added old condition for interception as comment.

2009-05-03  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/formations-433/defense-formation.conf:
	* src/formations-433/goalie-formation.conf:
	* src/formations-433/indirect-freekick-opp-formation.conf:
	* src/formations-433/indirect-freekick-our-formation.conf:
	* src/formations-433/kickin-our-formation.conf:
	* src/formations-433/normal-formation.conf:
	* src/formations-433/offense-formation.conf:
	* src/formations-433/setplay-opp-formation.conf:
	* src/formations-433/setplay-our-formation.conf:
	* src/formations-433/test-normal-formation.conf:
	* src/formations-442/goalie-formation.conf:
	* src/formations-442/indirect-freekick-opp-formation.conf:
	* src/formations-442/indirect-freekick-our-formation.conf:
	* src/formations-442/kickin-our-formation.conf:
	* src/formations-442/normal-formation.conf:
	* src/formations-442/setplay-opp-formation.conf:
	* src/formations-442/setplay-our-formation.conf:
	- fixed file format.

2009-05-02  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_basic_move.cpp:
	- changed condition for interception.

	* src/bhv_savior.cpp:
	* src/bhv_savior_chase_ball.h:
	* src/Makefile.am:
	- removed unused code.
	- changed clear pass.

	* src/bhv_penalty_kick.cpp:
	- changed goalie dash power to go to waiting position
	  for stamina saving.
	- changed waiting position when force moved.

2009-05-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/formations-433/defense-formation.dat:
	* src/formations-433/goalie-formation.dat:
	* src/formations-433/indirect-freekick-opp-formation.dat:
	* src/formations-433/indirect-freekick-our-formation.dat:
	* src/formations-433/kickin-our-formation.dat:
	* src/formations-433/normal-formation.dat:
	* src/formations-433/offense-formation.dat:
	* src/formations-433/setplay-opp-formation.dat:
	* src/formations-433/setplay-our-formation.dat:
	* src/formations-433/test-normal-formation.dat:
	* src/formations-442/goalie-formation.dat:
	* src/formations-442/indirect-freekick-opp-formation.dat:
	* src/formations-442/indirect-freekick-our-formation.dat:
	* src/formations-442/kickin-our-formation.dat:
	* src/formations-442/normal-formation.dat:
	* src/formations-442/setplay-opp-formation.dat:
	* src/formations-442/setplay-our-formation.dat:
	- removed *.dat files.

	* src/formations-433/defense-formation.conf:
	* src/formations-433/goalie-formation.conf:
	* src/formations-433/indirect-freekick-opp-formation.conf:
	* src/formations-433/indirect-freekick-our-formation.conf:
	* src/formations-433/kickin-our-formation.conf:
	* src/formations-433/normal-formation.conf:
	* src/formations-433/offense-formation.conf:
	* src/formations-433/setplay-opp-formation.conf:
	* src/formations-433/setplay-our-formation.conf:
	* src/formations-433/test-normal-formation.conf:
	* src/formations-442/goalie-formation.conf:
	* src/formations-442/indirect-freekick-opp-formation.conf:
	* src/formations-442/indirect-freekick-our-formation.conf:
	* src/formations-442/kickin-our-formation.conf:
	* src/formations-442/normal-formation.conf:
	* src/formations-442/setplay-opp-formation.conf:
	* src/formations-442/setplay-our-formation.conf:
	- fixed file format.

2009-05-01  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/actgen_through_pass.cpp:
	- fixed a bug of data type.

2009-04-30  Hiroki Shimora  <shimora@users.sourceforge.net>

	* bhv_pass_test.cpp:
	- integrated dribble of recursive action.

	* default_field_evaluator.cpp:
	- changed avaluation near offside line and defense line.

	* actgen_through_pass.cpp:
	* actgen_through_pass.h:
	* Makefile.am:
	* strategy.cpp:
	- added recursive through pass.

	* actgen_omnidir_dribble.cpp:
	- incresed number of candidate directions.
	- changed not to dribble in penalty area.

	* actgen_lead_pass.cpp:
	- changed code to append search radius easely.

	* recursive_action_chain_graph.cpp:
	* recursive_action_chain_graph.h:
	- renamed RecursiveActionChainGraph::logChainInfo()
	  to writeChainInfoLog.

	* actgen_direct_pass.h:
	* actgen_lead_pass.h:
	* actgen_voronoi_pass.h:
	* actgen_recursive_level_filter.h:
	* recursive_action_chain_graph.h:
	- fixed coding style.

	* src/bhv_savior.cpp:
	- updated many features such as emergency advance.
	- fixed compilation problem.

2009-04-27  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/actgen_direct_pass.cpp:
	* src/actgen_voronoi_pass.cpp:
	* src/actgen_lead_pass.cpp:
	* src/actgen_omnidir_dribble.cpp:
	* src/simple_pass_checker.cpp
	- changed pass checking.

	* strategy.cpp:
	- removed unused code.

	* src/recursive_action_chain_graph.h:
	- implemented PredictState::offsideLineX().
	- implemented PredictState::defenseLineX() (tentative).
	- replaced assert() to error message printing.

	* src/actgen_voronoi_pass.cpp:
	- inhibit compilation warning.

	* src/pass_checker.h:
	* src/simple_pass_checker.h:
	* src/simple_pass_checker.cpp:
	* src/Makefile.am:
	- added a abstract class PassChecker and a concrete class
	  SimplePassChecker.

	* src/actgen_recursive_level_filter.h:
	* src/strategy.cpp:
	* src/Makefile.am:
	- added a class ActGen_RecursiveLevelFilter to handle generation
	  from outside of action generator.

	* src/recursive_action_chain_graph.h:
	* src/recursive_action_chain_graph.cpp:
	* src/actgen_omnidir_dribble.h:
	* src/actgen_omnidir_dribble.cpp:
	* src/actgen_voronoi_pass.h:
	* src/actgen_voronoi_pass.cpp:
	* src/actgen_lead_pass.h:
	* src/actgen_lead_pass.cpp:
	* src/actgen_direct_pass.h:
	* src/actgen_direct_pass.cpp:
	* src/actgen_dribble_forward.h:
	* src/actgen_dribble_forward.cpp:
	* src/actgen_recursive_level_filter.h:
	- renamed CooperativeActionCandidateGenerator::generate()
	  to addCandidates().

	* src/actgen_omnidir_dribble.h:
	* src/actgen_omnidir_dribble.cpp:
	* src/actgen_voronoi_pass.h:
	* src/actgen_voronoi_pass.cpp:
	* src/actgen_lead_pass.h:
	* src/actgen_lead_pass.cpp:
	* src/actgen_direct_pass.h:
	* src/actgen_direct_pass.cpp:
	* src/actgen_dribble_forward.h:
	* src/actgen_dribble_forward.cpp:
	* src/recursive_action_chain_graph.h:
	* src/recursive_action_chain_graph.cpp:
	* src/default_field_evaluator.cpp:
	* src/strategy.cpp:
	- changed bahavior more conservative.

2009-04-16  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/Makefile.am:
	* src/actgen_direct_pass.cpp:
	* src/actgen_direct_pass.h:
	* src/actgen_dribble_forward.cpp:
	* src/actgen_dribble_forward.h:
	* src/actgen_lead_pass.cpp:
	* src/actgen_lead_pass.h:
	* src/actgen_omnidir_dribble.cpp:
	* src/actgen_omnidir_dribble.h:
	* src/actgen_voronoi_pass.cpp:
	* src/actgen_voronoi_pass.h:
	* src/bhv_pass_test.cpp:
	* src/bhv_pass_test.h:
	* src/cooperative_action_candidate_generator.h:
	* src/default_field_evaluator.cpp:
	* src/default_field_evaluator.h:
	* src/fixed_pass_course_table.cpp:
	* src/fixed_pass_course_table.h:
	* src/predict_player_object.h:
	* src/recursive_action_chain_graph.cpp:
	* src/recursive_action_chain_graph.h:
	* src/recursive_action_chain_graph.h::
	* src/strategy.cpp:
	* src/strategy.h:
	- added RecursiveActionChainGraph.
	- changed to use RecursiveActionChainGraph instead of PassCourseTable.

	* src/bhv_savior.cpp:
	- updated many features such as emergency advance.
	- fixed compilation problem.

2009-04-14  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	* src/bhv_pre_process.h:
	* src/bhv_savior.cpp:
	* src/bhv_savior.h:
	* src/role_goalie.cpp:
	* src/role_goalie.h:
	* src/role_savior.cpp:
	* src/role_savior.h:
	* src/soccer_role.cpp:
	* src/strategy.cpp:
	* src/strategy.h:
	- added missing role creator.
	- the implementation of RoleSavior is replaced by Bhv_Savior.
	- removed an unused variable.
	- fixed coding style.

2009-04-13  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/strategy.cpp:
	- fixed typo.

2009-04-11  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* configure.ac:
	- added check of librcsc_net and librcsc_time.

2009-04-09  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_deflecting_tackle.cpp:
	- changed course evaluation rule.

	* src/body_force_shoot.cpp:
	- changed to use Bhv_Shoot2008.

	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_pass_test.cpp:
	- removed unused code.

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_cross.cpp:
	* src/bhv_pass_test.cpp:
	* src/bhv_shake_off_mark.cpp:
	- fixed coding style.

2009-04-08  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/formations-433/defense-formation.conf:
	* src/formations-433/defense-formation.dat:
	* src/formations-433/goalie-formation.conf:
	* src/formations-433/goalie-formation.dat:
	* src/formations-433/indirect-freekick-opp-formation.conf:
	* src/formations-433/indirect-freekick-opp-formation.dat:
	* src/formations-433/indirect-freekick-our-formation.conf:
	* src/formations-433/indirect-freekick-our-formation.dat:
	* src/formations-433/kickin-our-formation.conf:
	* src/formations-433/kickin-our-formation.dat:
	* src/formations-433/normal-formation.conf:
	* src/formations-433/normal-formation.dat:
	* src/formations-433/offense-formation.conf:
	* src/formations-433/offense-formation.dat:
	* src/formations-433/setplay-opp-formation.conf:
	* src/formations-433/setplay-opp-formation.dat:
	* src/formations-433/setplay-our-formation.conf:
	* src/formations-433/setplay-our-formation.dat:
	* src/formations-433/test-normal-formation.conf:
	* src/formations-433/test-normal-formation.dat:
	* src/formations-442/goalie-formation.conf:
	* src/formations-442/goalie-formation.dat:
	* src/formations-442/indirect-freekick-opp-formation.conf:
	* src/formations-442/indirect-freekick-opp-formation.dat:
	* src/formations-442/indirect-freekick-our-formation.conf:
	* src/formations-442/indirect-freekick-our-formation.dat:
	* src/formations-442/kickin-our-formation.conf:
	* src/formations-442/kickin-our-formation.dat:
	* src/formations-442/normal-formation.conf:
	* src/formations-442/normal-formation.dat:
	* src/formations-442/setplay-opp-formation.conf:
	* src/formations-442/setplay-opp-formation.dat:
	* src/formations-442/setplay-our-formation.conf:
	* src/formations-442/setplay-our-formation.dat:
	- converted to new data format.

	* src/pass_course_table.h:
	- fixed a compiler warning.

	* src/bhv_block_ball_owner.cpp:
	* src/role_savior.cpp:
	- fixed Segment2D::intersection() to follow the changes of
	librcsc.

2009-04-07  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_player.cpp:
	* src/soccer_role.cpp:
	* src/soccer_role.h:
	* src/strategy.cpp:
	* src/strategy.h:
	- reimplemented hand-coded factory.
	- added USE_GENERIC_FACTORY define macro to enable us to switch
	the factory type easily.

	* src/coach.conf:
	- enabled use_team_graphic.

	* src/helios_player.cpp:
	- fixed typo.

	* src/role_442_center_back.cpp:
	* src/role_442_center_back.h:
	* src/role_442_center_half.cpp:
	* src/role_442_center_half.h:
	* src/role_442_forward.cpp:
	* src/role_442_forward.h:
	* src/role_442_side_back.cpp:
	* src/role_442_side_back.h:
	* src/role_442_side_half.cpp:
	* src/role_442_side_half.h:
	* src/role_center_back.cpp:
	* src/role_center_back.h:
	* src/role_center_forward.cpp:
	* src/role_center_forward.h:
	* src/role_defensive_half.cpp:
	* src/role_defensive_half.h:
	* src/role_goalie.cpp:
	* src/role_goalie.h:
	* src/role_offensive_half.cpp:
	* src/role_offensive_half.h:
	* src/role_sample.cpp:
	* src/role_sample.h:
	* src/role_savior.cpp:
	* src/role_savior.h:
	* src/role_side_back.cpp:
	* src/role_side_back.h:
	* src/role_side_forward.cpp:
	* src/role_side_forward.h:
	- added static const member variable 'NAME'.

2009-03-28  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/soccer_role.cpp:
	* src/role_442_center_back.cpp:
	* src/role_442_center_back.h:
	* src/role_442_center_half.cpp:
	* src/role_442_center_half.h:
	* src/role_442_forward.cpp:
	* src/role_442_forward.h:
	* src/role_442_side_back.cpp:
	* src/role_442_side_back.h:
	* src/role_442_side_half.cpp:
	* src/role_442_side_half.h:
	* src/formations-442/role_442_center_back.cpp:
	* src/formations-442/role_442_center_back.h:
	* src/formations-442/role_442_center_half.cpp:
	* src/formations-442/role_442_center_half.h:
	* src/formations-442/role_442_forward.cpp:
	* src/formations-442/role_442_forward.h:
	* src/formations-442/role_442_side_back.cpp:
	* src/formations-442/role_442_side_back.h:
	* src/formations-442/role_442_side_half.cpp:
	* src/formations-442/role_442_side_half.h:
	* src/Makefile.am:
	* src/formations-442/Makefile.am:
	* src/helios_player.cpp:
	* src/strategy.cpp:
	* src/strategy.h:
	- moved new roles to src directory. otherwise, new role factory
	cannot work.

2009-03-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/start.sh.in:
	- added '-f,--formation' option.
	- updated the team name.

	* src/coach.conf:
	- disabled team_graphic.

	* src/Makefile.am:
	* src/formations-442/role_442_center_back.cpp:
	* src/formations-442/role_442_center_back.h:
	* src/formations-442/role_442_center_half.cpp:
	* src/formations-442/role_442_center_half.h:
	* src/formations-442/role_442_forward.cpp:
	* src/formations-442/role_442_forward.h:
	* src/formations-442/role_442_side_back.cpp:
	* src/formations-442/role_442_side_back.h:
	* src/formations-442/role_442_side_half.cpp:
	* src/formations-442/role_442_side_half.h:
	* src/role_center_back.cpp:
	* src/role_center_back.h:
	* src/role_center_forward.cpp:
	* src/role_center_forward.h:
	* src/role_defensive_half.cpp:
	* src/role_defensive_half.h:
	* src/role_goalie.cpp:
	* src/role_goalie.h:
	* src/role_offensive_half.cpp:
	* src/role_offensive_half.h:
	* src/role_sample.cpp:
	* src/role_sample.h:
	* src/role_savior.cpp:
	* src/role_savior.h:
	* src/role_side_back.cpp:
	* src/role_side_back.h:
	* src/role_side_forward.cpp:
	* src/role_side_forward.h:
	* src/soccer_role.h:
	* src/strategy.cpp:
	* src/strategy.h:
	- replaced formation factory with the generic factory.
	- implemented new role factories but not used yet.

2009-03-27  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/start.sh.in:
	- modified copyright format in start.sh.in.

2009-03-26  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* configure.ac:
	* src/Makefile.am:
	* src/formations-442/Makefile.am:
	* src/formations-442/role_442_center_back.cpp:
	* src/formations-442/role_442_center_back.h:
	* src/formations-442/role_442_center_half.cpp:
	* src/formations-442/role_442_center_half.h:
	* src/formations-442/role_442_forward.cpp:
	* src/formations-442/role_442_forward.h:
	* src/formations-442/role_442_side_back.cpp:
	* src/formations-442/role_442_side_back.h:
	* src/formations-442/role_442_side_half.cpp:
	* src/formations-442/role_442_side_half.h:
	* src/role_savior.cpp:
	* src/role_savior.h:
	- added roles for 442 formation.
	- added RoleSavior.

	* src/bhv_penalty_kick.cpp:
	* src/formations-433/before-kick-off.conf:
	* src/formations-433/goal-kick-opp.conf:
	* src/formations-433/goal-kick-our.conf:
	* src/formations-433/goalie-catch-opp.conf:
	* src/formations-433/goalie-catch-our.conf:
	* src/formations-433/goalie-formation.conf:
	* src/formations-433/indirect-freekick-opp-formation.conf:
	* src/formations-433/indirect-freekick-our-formation.conf:
	* src/formations-433/kickin-our-formation.conf:
	* src/formations-433/normal-formation.conf:
	* src/formations-433/setplay-opp-formation.conf:
	* src/formations-433/setplay-our-formation.conf:
	* src/formations-442/before-kick-off.conf:
	* src/formations-442/goal-kick-opp.conf:
	* src/formations-442/goal-kick-our.conf:
	* src/formations-442/goalie-catch-opp.conf:
	* src/formations-442/goalie-catch-our.conf:
	* src/formations-442/goalie-formation.conf:
	* src/formations-442/indirect-freekick-opp-formation.conf:
	* src/formations-442/indirect-freekick-our-formation.conf:
	* src/formations-442/kickin-our-formation.conf:
	* src/formations-442/normal-formation.conf:
	* src/formations-442/setplay-opp-formation.conf:
	* src/formations-442/setplay-opp-formation.dat:
	* src/formations-442/setplay-our-formation.conf:
	* src/formations-442/setplay-our-formation.dat:
	* src/helios_player.cpp:
	* src/role_center_back.cpp:
	* src/role_center_back.h:
	* src/role_center_forward.cpp:
	* src/role_center_forward.h:
	* src/role_defensive_half.cpp:
	* src/role_defensive_half.h:
	* src/role_goalie.cpp:
	* src/role_goalie.h:
	* src/role_offensive_half.cpp:
	* src/role_offensive_half.h:
	* src/role_sample.cpp:
	* src/role_sample.h:
	* src/role_side_back.cpp:
	* src/role_side_back.h:
	* src/role_side_forward.cpp:
	* src/role_side_forward.h:
	* src/soccer_role.h:
	* src/start.sh.in:
	* src/strategy.cpp:
	- changed return value of SoccerRole::execute()
	- started to implement 442 formation.

	* src/coach.conf:
	* src/team_logo.xpm:
	- updated the team log file.
	- enabled team_graphic option.

	* COPYING:
	* ChangeLog:
	* configure.ac:
	* src/2008/body_smart_kick.h:
	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_attacker_offensive_move.h:
	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_basic_defensive_kick.h:
	* src/bhv_basic_move.cpp:
	* src/bhv_basic_move.h:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_basic_offensive_kick.h:
	* src/bhv_basic_tackle.cpp:
	* src/bhv_basic_tackle.h:
	* src/bhv_block_ball_kicker.cpp:
	* src/bhv_block_ball_kicker.h:
	* src/bhv_block_ball_owner.cpp:
	* src/bhv_block_ball_owner.h:
	* src/bhv_block_dribble.cpp:
	* src/bhv_block_dribble.h:
	* src/bhv_block_side_attack.cpp:
	* src/bhv_block_side_attack.h:
	* src/bhv_breakaway_through_pass.cpp:
	* src/bhv_breakaway_through_pass.h:
	* src/bhv_center_back_danger_move.cpp:
	* src/bhv_center_back_danger_move.h:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_center_back_defensive_move.h:
	* src/bhv_center_back_stopper_move.cpp:
	* src/bhv_center_back_stopper_move.h:
	* src/bhv_cross.cpp:
	* src/bhv_cross.h:
	* src/bhv_danger_area_tackle.cpp:
	* src/bhv_danger_area_tackle.h:
	* src/bhv_defender_basic_block_move.cpp:
	* src/bhv_defender_basic_block_move.h:
	* src/bhv_defender_get_ball.cpp:
	* src/bhv_defender_get_ball.h:
	* src/bhv_defensive_half_danger_move.cpp:
	* src/bhv_defensive_half_danger_move.h:
	* src/bhv_defensive_half_defensive_move.cpp:
	* src/bhv_defensive_half_defensive_move.h:
	* src/bhv_deflecting_tackle.cpp:
	* src/bhv_deflecting_tackle.h:
	* src/bhv_find_ball.cpp:
	* src/bhv_find_ball.h:
	* src/bhv_find_player.cpp:
	* src/bhv_find_player.h:
	* src/bhv_get_ball.cpp:
	* src/bhv_get_ball.h:
	* src/bhv_go_to_static_ball.cpp:
	* src/bhv_go_to_static_ball.h:
	* src/bhv_goalie_basic_move.cpp:
	* src/bhv_goalie_basic_move.h:
	* src/bhv_goalie_chase_ball.cpp:
	* src/bhv_goalie_chase_ball.h:
	* src/bhv_goalie_free_kick.cpp:
	* src/bhv_goalie_free_kick.h:
	* src/bhv_keep_shoot_chance.cpp:
	* src/bhv_keep_shoot_chance.h:
	* src/bhv_line_defense.cpp:
	* src/bhv_line_defense.h:
	* src/bhv_mark_close_opponent.cpp:
	* src/bhv_mark_close_opponent.h:
	* src/bhv_mark_pass_line.cpp:
	* src/bhv_mark_pass_line.h:
	* src/bhv_offensive_half_defensive_move.cpp:
	* src/bhv_offensive_half_defensive_move.h:
	* src/bhv_offensive_half_offensive_move.cpp:
	* src/bhv_offensive_half_offensive_move.h:
	* src/bhv_pass_kick_find_receiver.cpp:
	* src/bhv_pass_kick_find_receiver.h:
	* src/bhv_penalty_kick.cpp:
	* src/bhv_penalty_kick.h:
	* src/bhv_pre_process.cpp:
	* src/bhv_pre_process.h:
	* src/bhv_prepare_set_play_kick.cpp:
	* src/bhv_prepare_set_play_kick.h:
	* src/bhv_press.cpp:
	* src/bhv_press.h:
	* src/bhv_savior.cpp:
	* src/bhv_savior.h:
	* src/bhv_savior_chase_ball.cpp:
	* src/bhv_savior_chase_ball.h:
	* src/bhv_set_play.cpp:
	* src/bhv_set_play.h:
	* src/bhv_set_play_free_kick.cpp:
	* src/bhv_set_play_free_kick.h:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_set_play_goal_kick.h:
	* src/bhv_set_play_indirect_free_kick.cpp:
	* src/bhv_set_play_indirect_free_kick.h:
	* src/bhv_set_play_kick_in.cpp:
	* src/bhv_set_play_kick_in.h:
	* src/bhv_set_play_kick_off.cpp:
	* src/bhv_set_play_kick_off.h:
	* src/bhv_shake_off_mark.cpp:
	* src/bhv_shake_off_mark.h:
	* src/bhv_side_back_cross_block_move.cpp:
	* src/bhv_side_back_cross_block_move.h:
	* src/bhv_side_back_danger_move.cpp:
	* src/bhv_side_back_danger_move.h:
	* src/bhv_side_back_defensive_move.cpp:
	* src/bhv_side_back_defensive_move.h:
	* src/bhv_side_back_stopper_move.cpp:
	* src/bhv_side_back_stopper_move.h:
	* src/bhv_their_goal_kick_move.cpp:
	* src/bhv_their_goal_kick_move.h:
	* src/body_clear_ball2008.cpp:
	* src/body_clear_ball2008.h:
	* src/body_force_shoot.cpp:
	* src/body_force_shoot.h:
	* src/body_forestall_block.cpp:
	* src/body_forestall_block.h:
	* src/body_go_to_point2008.cpp:
	* src/body_go_to_point2008.h:
	* src/body_kick_to_corner.cpp:
	* src/body_kick_to_corner.h:
	* src/body_kick_to_front_space.cpp:
	* src/body_kick_to_front_space.h:
	* src/defense_system.cpp:
	* src/defense_system.h:
	* src/helios_coach.cpp:
	* src/helios_coach.h:
	* src/helios_player.cpp:
	* src/helios_player.h:
	* src/helios_trainer.cpp:
	* src/helios_trainer.h:
	* src/intention_receive.cpp:
	* src/intention_receive.h:
	* src/intercept_simulator.cpp:
	* src/intercept_simulator.h:
	* src/main_coach.cpp:
	* src/main_player.cpp:
	* src/main_trainer.cpp:
	* src/mark_table.cpp:
	* src/mark_table.h:
	* src/neck_chase_ball.cpp:
	* src/neck_chase_ball.h:
	* src/neck_check_ball_owner.cpp:
	* src/neck_check_ball_owner.h:
	* src/neck_default_intercept_neck.cpp:
	* src/neck_default_intercept_neck.h:
	* src/neck_goalie_turn_neck.cpp:
	* src/neck_goalie_turn_neck.h:
	* src/neck_offensive_intercept_neck.cpp:
	* src/neck_offensive_intercept_neck.h:
	* src/neck_turn_to_receiver.cpp:
	* src/neck_turn_to_receiver.h:
	* src/pass_course_table.cpp:
	* src/pass_course_table.h:
	* src/player_evaluator.h:
	* src/role_center_back.cpp:
	* src/role_center_back.h:
	* src/role_center_forward.cpp:
	* src/role_center_forward.h:
	* src/role_defensive_half.cpp:
	* src/role_defensive_half.h:
	* src/role_goalie.cpp:
	* src/role_goalie.h:
	* src/role_offensive_half.cpp:
	* src/role_offensive_half.h:
	* src/role_sample.cpp:
	* src/role_sample.h:
	* src/role_side_back.cpp:
	* src/role_side_back.h:
	* src/role_side_forward.cpp:
	* src/role_side_forward.h:
	* src/soccer_role.h:
	* src/strategy.cpp:
	* src/strategy.h:
	* src/view_tactical.cpp:
	* src/view_tactical.h:
	- updated the packabe version to 2009.
	- updated the license version to GPLv3.
	- updated copyright notice.

2009-03-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/formations-442/goalie-formation.conf:
	* src/formations-442/goalie-formation.dat:
	* src/formations-442/indirect-freekick-opp-formation.conf:
	* src/formations-442/indirect-freekick-opp-formation.dat:
	* src/formations-442/indirect-freekick-our-formation.conf:
	* src/formations-442/indirect-freekick-our-formation.dat:
	* src/formations-442/setplay-opp-formation.conf:
	* src/formations-442/setplay-opp-formation.dat:
	- added formation files.

	* src/formations-442/before-kick-off.conf:
	* src/formations-442/goal-kick-opp.conf:
	* src/formations-442/goal-kick-our.conf:
	* src/formations-442/goalie-catch-opp.conf:
	* src/formations-442/goalie-catch-our.conf:
	* src/formations-442/goalie-formation.conf:
	* src/formations-442/goalie-formation.dat:
	* src/formations-442/indirect-freekick-opp-formation.conf:
	* src/formations-442/indirect-freekick-opp-formation.dat:
	* src/formations-442/indirect-freekick-our-formation.conf:
	* src/formations-442/indirect-freekick-our-formation.dat:
	* src/formations-442/kickin-our-formation.conf:
	* src/formations-442/kickin-our-formation.dat:
	* src/formations-442/normal-formation.conf:
	* src/formations-442/normal-formation.dat:
	* src/formations-442/setplay-opp-formation.conf:
	* src/formations-442/setplay-opp-formation.dat:
	* src/formations-442/setplay-our-formation.conf:
	* src/formations-442/setplay-our-formation.dat:
	- modifled formation parameters.

2009-03-24  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_goalie_basic_move.cpp:
	* src/bhv_goalie_chase_ball.cpp:
	* src/bhv_set_play_free_kick.cpp:
	- supported new dash model in rcssserver-13.

	* src/intercept_simulator.cpp:
	- replaced PlayerType::inertiaPoint() with
	AbstractPlayerObject::inertiaPoint()

2009-03-23  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_breakaway_through_pass.cpp:
	* src/bhv_cross.cpp:
	* src/bhv_pass_test.cpp:
	* src/bhv_set_play_free_kick.cpp:
	* src/bhv_set_play_indirect_free_kick.cpp:
	* src/bhv_set_play_kick_in.cpp:
	* src/body_advance_ball_test.cpp:
	* src/body_clear_ball2008.cpp:
	* src/body_clear_ball_test.cpp:
	* src/helios_player.cpp:
	* src/role_goalie.cpp:
	- supported changes in librcsc.
	- removed obsolete actions.

2009-03-23  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/start.sh.in:
	- added an option --use-fullstate (true|false).
	- updated copyright messages.

2009-03-17  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	* src/body_dribble2008.cpp:
	* src/body_dribble2008.h:
	* src/body_intercept2008.cpp:
	* src/body_intercept2008.h:
	* src/intention_dribble2008.cpp:
	* src/intention_dribble2008.h:
	- moved to librcsc.

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_basic_move.cpp:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_block_ball_kicker.cpp:
	* src/bhv_block_ball_owner.cpp:
	* src/bhv_block_dribble.cpp:
	* src/bhv_block_side_attack.cpp:
	* src/bhv_center_back_danger_move.cpp:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_center_back_stopper_move.cpp:
	* src/bhv_defender_basic_block_move.cpp:
	* src/bhv_defender_get_ball.cpp:
	* src/bhv_defensive_half_danger_move.cpp:
	* src/bhv_defensive_half_defensive_move.cpp:
	* src/bhv_get_ball.cpp:
	* src/bhv_goalie_basic_move.cpp:
	* src/bhv_goalie_chase_ball.cpp:
	* src/bhv_keep_shoot_chance.cpp:
	* src/bhv_line_defense.cpp:
	* src/bhv_mark_close_opponent.cpp:
	* src/bhv_mark_pass_line.cpp:
	* src/bhv_offensive_half_defensive_move.cpp:
	* src/bhv_offensive_half_offensive_move.cpp:
	* src/bhv_pass_test.cpp:
	* src/bhv_penalty_kick.cpp:
	* src/bhv_pre_process.cpp:
	* src/bhv_press.cpp:
	* src/bhv_savior.cpp:
	* src/bhv_savior_chase_ball.cpp:
	* src/bhv_self_pass.cpp:
	* src/bhv_set_play_free_kick.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_shake_off_mark.cpp:
	* src/bhv_side_back_cross_block_move.cpp:
	* src/bhv_side_back_danger_move.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	* src/bhv_side_back_stopper_move.cpp:
	* src/bhv_their_goal_kick_move.cpp:
	* src/body_force_shoot.cpp:
	* src/body_forestall_block.cpp:
	* src/intention_receive.cpp:
	* src/role_center_back.cpp:
	* src/role_center_forward.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_sample.cpp:
	* src/role_side_back.cpp:
	* src/role_side_forward.cpp:
	- supported librcsc-3.0.0.

2009-03-17  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/pass_course_table.h:
	- fixed coding style.

2009-02-19  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_savior.cpp:
	- fixed an illegal pass speed.

2009-01-23  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_savior.cpp:
	- fixed compilation errors related to changes of librcsc.

2008-12-18  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_pass_test.cpp:
	* src/pass_course_table.cpp:
	- disabled a debug printing.

	* src/start.sh.in:
	- added copyright messages.

2008-12-11  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_breakaway_through_pass.cpp:
	* src/bhv_cross.cpp:
	* src/bhv_keep_shoot_chance.cpp:
	* src/bhv_pass_kick_find_receiver.cpp:
	* src/bhv_pass_test.cpp:
	* src/bhv_penalty_kick.cpp:
	* src/bhv_pre_process.cpp:
	* src/bhv_savior.cpp:
	* src/bhv_self_pass.cpp:
	* src/bhv_set_play_free_kick.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_set_play_indirect_free_kick.cpp:
	* src/bhv_set_play_kick_in.cpp:
	* src/bhv_set_play_kick_off.cpp:
	* src/bhv_their_goal_kick_move.cpp:
	* src/body_advance_ball_test.cpp:
	* src/body_clear_ball2008.cpp:
	* src/body_clear_ball_test.cpp:
	* src/body_dribble2008.cpp:
	* src/body_force_shoot.cpp:
	* src/body_kick_to_corner.cpp:
	* src/body_kick_to_front_space.cpp:
	* src/helios_player.cpp:
	* src/pass_course_table.cpp:
	* src/role_center_back.cpp:
	* src/role_center_forward.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_sample.cpp:
	* src/role_side_back.cpp:
	* src/role_side_forward.cpp:
	- replaced removed actions with actions in librcsc.

	* src/2008/bhv_shoot2008.cpp:
	* src/2008/bhv_shoot2008.h:
	* src/2008/body_hold_ball2008.cpp:
	* src/2008/body_hold_ball2008.h:
	* src/2008/body_smart_kick.cpp:
	* src/2008/body_smart_kick.h:
	* src/2008/kick_table.cpp:
	* src/2008/kick_table.h:
	* src/2008/shoot_table2008.cpp:
	* src/2008/shoot_table2008.h:
	* src/bhv_shoot2008.cpp:
	* src/bhv_shoot2008.h:
	* src/body_hold_ball2008.cpp:
	* src/body_hold_ball2008.h:
	* src/body_smart_kick.cpp:
	* src/body_smart_kick.h:
	* src/kick_table.cpp:
	* src/kick_table.h:
	* src/shoot_table2008.cpp:
	* src/shoot_table2008.h:
	* src/Makefile.am:
	- moved to librcsc.
	- removed from the build target.

2008-12-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_basic_move.cpp:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_block_ball_kicker.cpp:
	* src/bhv_block_ball_owner.cpp:
	* src/bhv_block_dribble.cpp:
	* src/bhv_block_side_attack.cpp:
	* src/bhv_center_back_danger_move.cpp:
	* src/bhv_defender_get_ball.cpp:
	* src/bhv_defensive_half_defensive_move.cpp:
	* src/bhv_get_ball.cpp:
	* src/bhv_goalie_basic_move.cpp:
	* src/bhv_goalie_chase_ball.cpp:
	* src/bhv_keep_shoot_chance.cpp:
	* src/bhv_mark_close_opponent.cpp:
	* src/bhv_pass_test.cpp:
	* src/bhv_penalty_kick.cpp:
	* src/bhv_pre_process.cpp:
	* src/bhv_press.cpp:
	* src/bhv_savior.cpp:
	* src/bhv_savior_chase_ball.cpp:
	* src/bhv_self_pass.cpp:
	* src/bhv_set_play.cpp:
	* src/bhv_set_play_indirect_free_kick.cpp:
	* src/bhv_shake_off_mark.cpp:
	* src/bhv_side_back_cross_block_move.cpp:
	* src/bhv_side_back_danger_move.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	* src/bhv_their_goal_kick_move.cpp:
	* src/body_dribble2008.cpp:
	* src/body_forestall_block.cpp:
	* src/body_go_to_point2008.cpp:
	* src/body_hold_ball2008.cpp:
	* src/body_intercept2008.cpp:
	* src/defense_system.cpp:
	* src/goalie_move_table.cpp:
	* src/kick_table.cpp:
	* src/role_center_back.cpp:
	* src/role_center_forward.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_sample.cpp:
	* src/role_side_back.cpp:
	* src/role_side_forward.cpp:
	* src/shoot_table2008.cpp:
	* src/strategy.cpp:
	- replaced maxPower() with maxDashPower() or minDashPower().

2008-12-04  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/pass_course_table.cpp:
	- reimplemented debugging output code.

2008-12-03  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_penalty_kick.cpp:
	- improved kicker behavior on penalty shootout mode.

2008-11-30  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_penalty_kick.cpp:
	- added a dance action while waiting.

2008-11-21  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/Makefile.am:
	- added MOSTLYCLEANFILES.

2008-11-19  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_coach.cpp:
	* src/helios_player.cpp:
	* src/helios_trainer.cpp:
	* src/strategy.cpp:
	* src/strategy.h:
	- added the check of "help" option.

2008-11-07  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_basic_move.cpp:
	- fixed an illegal condition.

	* src/bhv_defensive_half_defensive_move.cpp:
	* src/bhv_get_ball.cpp:
	* src/bhv_side_back_danger_move.cpp:
	* src/role_side_back.cpp:
	* src/strategy.cpp:
	- fixed gcc-4.3 build problems.

2008-10-31  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/coach.conf:
	* src/player.conf:
	- set client version to 13.
	- changed other players' count threshold to 100.

	* src/bhv_pass_test.cpp:
	- tuned opponent check value.

2008-08-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/coach.conf:
	* src/helios_coach.cpp:
	* src/start.sh.in:
	- supported the team_graphic_file option.

2008-08-04  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_pass_kick_find_receiver.cpp:
	* src/bhv_pass_test.cpp:
	* src/pass_course_table.cpp:
	- fixed a ball stack situation whle the find pass receiver action.

	* src/bhv_set_play_free_kick.cpp:
	- fixed a reference to the ball neares teammate.

2008-07-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* configure.ac:
	* src/Makefile.am:
	- updated a version string.
	- added a missing distribution target.

2008-07-19  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_pass_kick_find_receiver.cpp:
	- reverted to the previous version.

	* src/bhv_side_back_defensive_move.cpp:
	- tuned defense line x.

	* src/role_side_forward.cpp:
	- fixed a bug of the player pointer handling.

	* src/bhv_self_pass.cpp:
	- tuned the target area rectangle.

	* src/bhv_side_back_defensive_move.cpp:
	- added the trick to adjust to the defense line.

	* src/bhv_mark_pass_line.cpp:
	- tuned the mark target threshold.

	* src/bhv_pass_kick_find_receiver.cpp:
	- removed the count threshold check.

	* src/role_defensive_half.cpp:
	- disabled Bhv_DefensiveHalfDangerMove.

	* src/role_side_forward.cpp:
	- tuned the dribble condition.

2008-07-19  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.h:
	* src/bhv_savior.cpp:
	- fixed a bug of ball chasing.
	- tuned positioning mode swiching to prevent horizontal shoot.
	- added definition OLD_GOAL_LINE_POSITINING_CONDITION to revert
	positioning mode swiching.
	- set compilation DISABLE_GOAL_LINE_POSITIONING_SHIFT_TO_SHOOT_POINT
	to true.
	- changed condition for chase ball.
	- fixed penalty shoot out mode.

2008-07-18  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_get_ball.cpp:
	- fiexed a danger tackle condition.
	- tuned a center position.

	* src/bhv_pass_test.cpp:
	- tuned pass evaluation.
	- tuned ball step factor (1.05 -> 1.02).
	- tuned dash distance buffers for through pass.

	* src/bhv_side_back_danger_move.cpp:
	* src/bhv_side_back_danger_move.h:
	- added doBlockShoot()

	* src/bhv_get_ball.cpp:
	- tuned the cycle check condition.

	* src/bhv_pass_test.cpp:
	- reverted to the revision 520. tuned a through pass
	check. tuned ball step factor (1.0 -> 1.05).

	* src/bhv_defensive_half_danger_move.cpp:
	* src/bhv_defensive_half_danger_move.h:
	* src/Makefile.am:
	* src/role_defensive_half.cpp:
	- added Bhv_DefensiveHalfDangerMove.

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_attacker_offensive_move.h:
	* src/strategy.cpp:
	* src/strategy.h:
	- svn merge -r svn merge -r 594:597 ../../branches/helios-rc08-bs/
	- implemented a very very simple starategy analysis.
	- slightly changed the forward positioning for ManMark_Strategy.

	* src/bhv_mark_pass_line.cpp:
	- tuned a condition to check an another attacker.

	* src/bhv_offensive_half_defensive_move.cpp
	- tuned get ball condition.
	- added intercept action for the get ball situation

	* src/bhv_get_ball.cpp:
	- tuned a conditin of the cycle check. reverted to the original condition.

	* src/bhv_side_back_cross_block_move.cpp:
	- fixed teammate interception info. goalie is excepted.

	* src/bhv_side_back_danger_move.cpp:
	- fixed teammate interception info. goalie is excepted.
	- disabled Bhv_GoToPointLookBall

2008-07-18  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.cpp:
	- disabled/enabled some features intended to stable behavior,
	DISABLE_GOAL_LINE_POSITIONING_SHIFT_TO_SHOOT_POINT to false,
	OLD_AGGRESSIVE_POSITIONING to true, OLD_EMERGENT_ADVANCE to true.

	* src/bhv_savior.cpp:
	- changed behavior of backing home from the mid field and added
	compilation switch DISABLE_FAST_BACK_HOME.
	- added compilation switches to revert each feature.
	- added a compilation switch
	DISABLE_GOAL_LINE_POSITIONING_SHIFT_TO_SHOOT_POINT to disable shifting
	to shoot point, shifting is effective to opponent's fast passsing near
	goal, but this feature has side effect, weak far corner shooting at
	1 on 1.

	* src/bhv_savior.cpp:
	- added compile option GOAL_LINE_POSITIONINIG_FACE_BODY (default off).

	* src/bhv_savior.cpp:
	- replaced chase ball implementation.
	- tuned condition for emergency advance mode.

	* src/bhv_deflecting_tackle.cpp:
	- modified target when ball is very close to the goal.

	* src/bhv_savior.h:
	* src/bhv_savior.cpp:
	- added compiling switch OLD_STABLE in the src/bhv_savior.cpp
	on the top of file. Enable this variable to revert to old behavior.
	- improved tackle behavior, if one dash action increase tackle
	probability, issue dash instead of tackle.
	- modified emergency advance mode, when very dangerous situation,
	do attacking. OLD_STABLE disables this modification.
	- modified aggressive positioning, when we have advantage, go
	to more forward position. OLD_STABLE disables this modification.
	- changed goal line positioning, if opponent will be shootable, shift
	positioning a little.

	* src/bhv_deflecting_tackle.h:
	* src/bhv_deflecting_tackle.cpp:
	- tuned to choose more safety course.

	* src/body_go_to_point2008.cpp:
	- added debug message.

	* src/bhv_savior.cpp:
	- modified rule of positioning mode changing.

2008-07-16  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.h:
	* src/bhv_savior.cpp:
	- improved moving on goal line positioning.

	* src/body_go_to_point2008.h:
	- fixed coding style.

	* src/bhv_savior.cpp:
	- changed chase ball condition not to chase
	when possibily dangerous situation.
	- changed log category from ACTION to TEAM.
	- changed positioning error on goal line positioning mode.
	- changed condition to do tune positioning or not.

	* src/bhv_deflecting_tackle.h:
	* src/bhv_deflecting_tackle.cpp:
	- added default parameter.

	* src/neck_chase_ball.cpp:
	- added debug messages.

2008-07-16  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_danger_area_tackle.cpp:
	- disabled the last result cache.

2008-07-15  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_deflecting_tackle.h:
	* src/bhv_deflecting_tackle.cpp:
	* src/Makefile.am:
	* src/bhv_savior.cpp:
	- added a new behavior deflecting tackle.

	* src/bhv_savior_chase_ball.cpp:
	- fixed a bug of chasing out of field ball.

	* src/bhv_savior.h:
	* src/bhv_savior.cpp:
	- tuned mode swithing of positioning.
	- fixed positioning bug occures when ball shall be over the goal line.
	- dash power reduced when safety situation not to consume stamina.
	- positioning target changed if angle error from goal is big.

2008-07-15  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* ChangeLog:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_get_ball.cpp:
	* src/bhv_offensive_half_defensive_move.cpp:
	* src/bhv_side_back_cross_block_move.cpp:
	* src/bhv_side_back_danger_move.cpp:
	* src/bhv_side_back_danger_move.h:
	* src/bhv_side_back_stopper_move.cpp:
	* src/bhv_side_back_stopper_move.h:
	* src/body_intercept2008.cpp:
	* src/formations-433/defense-formation.conf:
	* src/formations-433/defense-formation.dat:
	* src/role_side_forward.cpp:
	* src/strategy.cpp:
	- reverted. svn merge -r 555:554 .

	* src/helios_player.cpp:
	- set ball velocity to 0 in the communication message if player
	can kick the ball and will be kicable in next cycle.

	* src/intention_dribble.cpp:
	- added a playmode chedk for change_view action

2008-07-15  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior_chase_ball.cpp:
	- fixed a bug of chasing out of field ball.

	* src/bhv_savior.h:
	* src/bhv_savior.cpp:
	- tuned mode swithing of positioning.
	- fixed positioning bug occures when ball shall be over the goal line.
	- dash power reduced when safety situation not to consume stamina.
	- positioning target changed if angle error from goal is big.

2008-07-14  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.cpp:
	- tuned mode swithing of positioning.

	* src/bhv_savior_chase_ball.h:
	* src/bhv_savior_chase_ball.cpp:
	- changed neck action when doing interception.

	* body_go_to_point2008.cpp:
	- improved back dash.

	* bhv_savior_goalie_basic_move.h:
	* bhv_savior_goalie_basic_move.cpp:
	* bhv_savior_chase_ball.cpp:
	* Makefile.am:
	- removed BhvSaviorGoalieBasicMove.

2008-07-14  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_goalie_basic_move.cpp:
	* src/bhv_goalie_basic_move.h:
	- changed the ball looking policy if the current playmode is not
	play_on or penalty_taken_[lr]. In these cases, goalie always uses
	Body_GoToPoint instead of Bhv_GoToPointLookBall.

2008-07-14  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/Makefile.am:
	* src/bhv_goalie_basic_move.cpp:
	* src/bhv_savior_chase_ball.cpp:
	* src/bhv_savior_goalie_basic_move.cpp:
	* src/bhv_savior.cpp:
	- fixed a bug of positioning when ball shall be out of the field.

	* src/bhv_savior_chase_ball.cpp:
	- fixed a bug of positioning when ball shall be out of
	the field. (but not all of cases)
	- tuned positioning error parameter.

	* src/bhv_savior.cpp:
	- changed to do deflecting tackle when ball shall be in our goal.
	- changed positioning.

2008-07-14  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/body_dribble2008.cpp:
	- restricted the playmode that change_view can be used.

2008-07-13  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.cpp:
	- fixed kicking behavior at side of the field.
	- changed to do force tackle when very dangerous situation.
	- changed condition for emergency advance.

	* src/bhv_savior_chase_ball.cpp:
	- changed movement behavior from simple algorithm to Bhv_GoToPoint2008.

	* src/body_go_to_point2008.h:
	* src/body_go_to_point2008.cpp:
	- added an option for emergency movement.

	* src/pass_course_table.cpp:
	* src/bhv_danger_area_tackle.cpp:
	- fixed debug message.

2008-07-13  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_get_ball.cpp:
	- tuned the base center point to block the shoot.

	* src/bhv_side_back_danger_move.cpp:
	- added conditions to cancel the get ball action.

	* src/bhv_get_ball.cpp:
	- tuned a condition of the base center position to block the shoot
	course.

	* src/bhv_offensive_half_defensive_move.cpp:
	* src/bhv_offensive_half_offensive_move.cpp:
	* src/role_offensive_half.cpp:
	- added simple stamina management for get ball action.
	- fixed an illegal behavior assignment.

	* src/mark_table.cpp:
	- changed the x threshold policy.
	- changed opponent max x threshold.

	* src/defense_system.cpp:
	* src/defense_system.h:
	* src/Makefile.am:
	* src/bhv_side_back_cross_block_move.cpp:
	* src/bhv_side_back_cross_block_move.h:
	* src/bhv_side_back_defensive_move.cpp:
	* src/bhv_side_back_defensive_move.h:
	- added DefenseSystem to collect some utilities.
	- tuned emergency move for side back.

	* src/bhv_side_back_danger_move.cpp:
	- fixed a condtion for block move.

	* src/strategy.cpp:
	- considered defense line to determine the defender's dash power

	* src/bhv_offensive_half_defensive_move.cpp:
	- added stamina check.

2008-07-13  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_danger_area_tackle.cpp:
	* src/bhv_basic_tackle.cpp:
	- fixed does not tackle if ball shall be in the our goal.

	* src/bhv_savior_chase_ball.cpp:
	- fixed chasing to out of field problem.

	* src/bhv_savior.cpp:
	- modified debug message.

2008-07-13  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_pass_test.cpp:
	- tuned a through pass check. removed ball step factor (1.05 -> 1.0).

2008-07-12  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/neck_check_ball_owner.cpp:
	- fixed a turn neck target when opponent reach cycle is big.
	- fixed a count threshold for ball check.

	* src/bhv_pass_test.cpp:
	- now, all pass lines are output as a debug line..
	- disabled a large debug output.

	* src/bhv_side_back_defensive_move.cpp:
	- fixed a bounding region of the defensive area get ball action.

	* src/bhv_goalie_free_kick.cpp:
	- fixed a catch fault possibility after the successful catch.

	* src/role_side_back.cpp:
	- fixed a defect of the thost player check.

	* src/formations-433/defense-formation.conf:
	* src/formations-433/defense-formation.dat:
	* src/formations-433/normal-formation.conf:
	* src/formations-433/normal-formation.dat:
	- tuned defender positions in the very dangerous situation.

	* src/role_side_back.cpp:
	- fixed a defect of the thost player check.

	* src/bhv_center_back_danger_move.cpp:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_get_ball.cpp:
	* src/bhv_offensive_half_defensive_move.cpp:
	* src/bhv_offensive_half_defensive_move.h:
	* src/bhv_offensive_half_offensive_move.cpp:
	* src/bhv_offensive_half_offensive_move.h:
	* src/bhv_side_back_cross_block_move.cpp:
	* src/bhv_side_back_cross_block_move.h:
	* src/bhv_side_back_danger_move.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	* src/bhv_side_back_defensive_move.h:
	* src/bhv_side_back_stopper_move.cpp:
	* src/bhv_side_back_stopper_move.h:
	* src/role_offensive_half.cpp:
	- first commit of the defense branch.

2008-07-12  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.h:
	* src/bhv_savior.cpp:
	- added getCorrectedPredictBallPos() to calculate ball prediction
	concern with outline of the field.
	- used the ball prediction.

2008-07-12  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_pass_test.cpp:
	- changed the minimum through pass distance. (8.0 -> 5.5)

	* src/bhv_dribble2008.cpp:
	- fixed a defect of doTurnOnly()

2008-07-12  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/body_advance_ball2008.cpp:
	* src/body_advance_ball2008.h:
	* src/Makefile.am:
	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_set_play_kick_in.cpp:
	* src/role_center_back.cpp:
	* src/role_side_back.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_side_forward.cpp:
	* src/role_center_forward.cpp:
	- removed Body_AdvanceBall2008.

	* src/pass_course_table.h:
	* src/pass_course_table.cpp:
	- implemented shoot check. (not used)

	* src/body_force_shoot.cpp:
	- modified debug message.

2008-07-12  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_side_back_defensive_move.cpp:
	* src/bhv_side_back_defensive_move.h:
	- cleaned up.
	- added an emergency move action. need to do more test.

	* src/bhv_center_back_danger_move.cpp:
	- changed neck action sot Neck_CheckBallOwner.
	- added the check of the fastest opponent.

	* src/bhv_attacker_offensive_move.cpp:
	- added a special move action to avoid offside.

	* src/bhv_self_pass.cpp:
	- incleased the minimum dash count threshold for KickTurnDashes
	search.

	* src/mark_table.cpp:
	- added a test parameter.

	* src/bhv_center_back_stopper_move.cpp:
	* src/bhv_center_back_stopper_move.h:
	- reimplemented Bhv_CenterBackStopperMove.

	* src/bhv_pass_test.cpp:
	* src/pass_course_table.cpp:
	- fixed a defect of view range checking.

2008-07-12  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/pass_course_table.cpp:
	- inhibited pass to goalie over the defense line.

2008-07-11  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_self_pass.cpp:
	- fixed a bug of the turn margin check.
	- changed the angle threshold polity.
	- fixed debug messages.

	* src/mark_table.cpp:
	- fixed typo.

	* src/bhv_mark_pass_line.cpp:
	- added an action to check the unreliable mark target.

	* src/neck_default_intercept_neck.cpp
	- enabled turn_neck for the recursive pass in the offensive
	situation.

2008-07-11  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.h:
	* src/bhv_savior.cpp:
	- improved behavior when near ball holder exists.
	- changed mode switching condition.

2008-07-11  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_pass_kick_find_receiver.cpp:
	* src/bhv_pass_test.cpp:
	* src/pass_course_table.cpp:
	- fixed a bug of the recursive pass verification.

	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_center_back_defensive_move.h:
	* src/bhv_side_back_defensive_move.cpp:
	- cleaned up.
	- tested our defense line consideration.

2008-07-11  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/body_go_to_point2008.cpp:
	- deleted unnecessary newline charactors in debugging message.

	* src/bhv_savior_chase_ball.cpp:
	* src/bhv_savior.h:
	* src/bhv_savior.cpp:
	- changed condition for interception.
	- fixed a bug occures on right team penalty mode.

2008-07-11  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_side_back_danger_move.cpp:
	* src/bhv_side_back_danger_move.h:
	* src/Makefile.am:
	* src/role_side_back.cpp:
	- added Bhv_SideBackDangerMove.

	* src/bhv_defensive_half_defensive_move.cpp:
	* src/bhv_defensive_half_defensive_move.h:
	* src/Makefile.am:
	* src/role_defensive_half.cpp:
	- added Bhv_DefensiveHalfDefensiveMove.

	* src/bhv_center_back_stopper_move.cpp:
	* src/bhv_pass_kick_find_receiver.cpp:
	- fixed debug messages.

	* src/bhv_basic_tackle.cpp:
	- added local static cache variables.

	* src/bhv_cross.cpp:
	* src/bhv_pass_test.cpp:
	* src/bhv_savior.cpp
	* src/bhv_their_goal_kick_move.cpp
	* src/bhv_penalty_kick.cpp
	* src/body_hold_ball2008.cpp
	* src/body_kick_to_front_space.cpp
	* src/kick_table.cpp
	* src/role_center_forward.cpp:
	* src/role_goalie.cpp:
	* src/role_side_forward.cpp:
	* src/body_dribble2008.cpp:
	* src/shoot_table2008.cpp:
	- changed Rect2D constructors.

2008-07-11  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior_chase_ball.cpp:
	- changed condition for interception.

2008-07-11  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_center_back_danger_move.cpp:
	* src/bhv_center_back_danger_move.h:
	* src/Makefile.am:
	* src/role_center_back.cpp:
	- added Bhv_CenterBackDangerMove.

	* src/bhv_attacker_offensive_move.cpp:
	- changed the other player's minimaum intercept step value for turn_neck

	* src/neck_default_intercept_neck.cpp:
	- changed the policy for recursive pass.

	* src/bhv_pre_process.cpp:
	- set force mode to the simultaneous kick.

	* src/pass_course_table.cpp:
	- tested a ball first speed for recursive pass.

	* src/bhv_side_back_defensive_move.cpp:
	- changed a get ball condition.

	* src/bhv_center_back_defensive_move.cpp:
	- tuned a bounding rectangle for the get ball action

	* src/bhv_defender_basic_block_move.cpp:
	* src/bhv_defender_basic_block_move.h:
	- removed static methods and replaced them with the static methods
	in Strategy class.

	* src/bhv_attacker_offensive_move.cpp:
	- set a ball count threshold for Neck_TurnToBallOrScan

	* src/bhv_side_back_stopper_move.cpp:
	* src/bhv_side_back_stopper_move.h:
	* src/Makefile.am:
	* src/role_side_back.cpp:
	- added Bhv_SideBackStopperMove

	* src/helios_player.cpp:
	* src/strategy.cpp:
	- added a home position mark to the debug message.

	* src/bhv_savior_chase_ball.cpp:
	* src/bhv_savior_chase_ball.h:
	* src/Makefile.am:
	* src/bhv_savior.cpp:
	- added Bhv_SaviorChaseBall.
	- added a kickable player status for the catchable check.
	- added more detailed debug messages.

2008-07-11  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.cpp:
	* src/bhv_savior_chase_ball.cpp:
	- changed some conditions and parameters.

2008-07-10  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/neck_offensive_intercept_neck.cpp:
	* src/neck_offensive_intercept_neck.h:
	* src/Makefile.am:
	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_basic_move.cpp:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_center_back_stopper_move.cpp:
	* src/bhv_defender_get_ball.cpp:
	* src/bhv_find_player.cpp:
	* src/bhv_find_player.h:
	* src/bhv_mark_close_opponent.cpp:
	* src/bhv_offensive_half_defensive_move.cpp:
	* src/bhv_offensive_half_offensive_move.cpp:
	* src/bhv_pre_process.cpp:
	* src/bhv_self_pass.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	* src/body_intercept2008.cpp:
	* src/intention_receive.cpp:
	* src/neck_check_ball_owner.cpp:
	* src/neck_default_intercept_neck.cpp:
	* src/neck_default_intercept_neck.h:
	* src/role_center_back.cpp:
	* src/role_center_forward.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_side_back.cpp:
	* src/role_side_forward.cpp:
	- added Neck_OffensiveInterceptNeck.

	* src/bhv_pass_kick_find_receiver.cpp:
	- changed the best target selecton policy.

	* src/bhv_pass_test.cpp:
	* src/bhv_pass_test.h:
	* src/pass_course_table.cpp:
	* src/pass_course_table.h:
	* src/world_model_ext.h:
	- fixed a critical bug in the getDistPlayerNearestToPoint().
	- added the check of one step kick possibility when the recursive
	kick is registered.
	- changed the policy of the recursive pass type. Now, the result
	pass type is affected by one step kick possibility and player's
	view range.

	* src/bhv_get_ball.cpp:
	* src/bhv_get_ball.h:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_defender_get_ball.cpp:
	* src/bhv_offensive_half_defensive_move.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	- added a bounding rectangle variable to Bhv_GetBall.

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_basic_move.cpp:
	* src/bhv_block_ball_kicker.cpp:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_center_back_stopper_move.cpp:
	* src/bhv_defender_get_ball.cpp:
	* src/bhv_mark_close_opponent.cpp:
	* src/bhv_offensive_half_defensive_move.cpp:
	* src/bhv_offensive_half_offensive_move.cpp:
	* src/bhv_pre_process.cpp:
	* src/bhv_press.cpp:
	* src/bhv_self_pass.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_shake_off_mark.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	* src/intention_receive.cpp:
	* src/neck_default_intercept_neck.h:
	* src/role_center_back.cpp:
	* src/role_center_forward.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_side_back.cpp:
	* src/role_side_forward.cpp:
	- added NO_USE_NECK_DEFAULT_INTERCEPT_NECK macro.

	* src/bhv_block_ball_owner.cpp:
	* src/bhv_block_ball_owner.h:
	* src/bhv_block_side_attack.cpp:
	* src/bhv_block_side_attack.h:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_center_back_defensive_move.h:
	* src/bhv_center_back_stopper_move.cpp:
	* src/bhv_center_back_stopper_move.h:
	* src/bhv_get_ball.cpp:
	* src/bhv_get_ball.h:
	* src/bhv_line_defense.cpp:
	* src/bhv_line_defense.h:
	* src/bhv_mark_pass_line.cpp:
	* src/bhv_mark_pass_line.h:
	* src/bhv_offensive_half_defensive_move.cpp:
	* src/bhv_offensive_half_defensive_move.h:
	* src/bhv_offensive_half_offensive_move.cpp:
	* src/bhv_offensive_half_offensive_move.h:
	* src/bhv_side_back_cross_block_move.cpp:
	* src/bhv_side_back_cross_block_move.h:
	* src/bhv_side_back_defensive_move.cpp:
	* src/bhv_side_back_defensive_move.h:
	* src/neck_check_ball_owner.cpp:
	* src/neck_check_ball_owner.h:
	* src/bhv_attacker_offensive_move2006.cpp:
	* src/bhv_attacker_offensive_move2007.cpp:
	* src/bhv_goalie_basic_move2006.cpp:
	* src/bhv_goalie_basic_move2006.h:
	* src/Makefile.am:
	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_defender_get_ball.cpp:
	* src/body_clear_ball2008.cpp:
	* src/mark_table.cpp:
	* src/pass_course_table.cpp:
	* src/player.conf:
	* src/role_center_back.cpp:
	* src/role_offensive_half.cpp:
	* src/role_offensive_half.h:
	* src/role_side_back.cpp:
	* src/strategy.cpp:
	* src/strategy.h:
	- merged helios-rc08-GetBall branche -r 410:470
	- some conflicts are manually resoluved.

	* src/neck_turn_to_receiver.cpp:
	- changed the face target point.

	* src/bhv_pass_test.cpp:
	- changed the condition of the find receiver action.

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_basic_move.cpp:
	* src/bhv_block_ball_kicker.cpp:
	* src/bhv_defender_get_ball.cpp:
	* src/bhv_mark_close_opponent.cpp:
	* src/bhv_pre_process.cpp:
	* src/bhv_press.cpp:
	* src/bhv_self_pass.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_shake_off_mark.cpp:
	* src/intention_receive.cpp:
	* src/role_center_back.cpp:
	* src/role_center_forward.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_side_back.cpp:
	* src/role_side_forward.cpp:
	- set sub actions to Neck_DefaultInterceptNeck.

	* src/neck_default_intercept_neck.cpp:
	* src/neck_default_intercept_neck.h:
	- supported subaction The other ViewAction and NeckAction can be
	set as sub actions.

	* src/bhv_pass_kick_find_receiver.cpp:
	* src/bhv_pass_kick_find_receiver.h:
	* src/Makefile.am:
	* src/bhv_pass_test.cpp:
	* src/pass_course_table.cpp:
	- enabled a direct pass search.
	- added Bhv_PassKickFindReceiver.
	- changed the receiver position count threshold in PassCourseTable.

2008-07-09  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/team_logo.xpm:
	- fixed compilation warnings by adding const.

2008-07-09  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_find_player.cpp:
	- fixed a search range.

	* src/bhv_mark_close_opponent.cpp:
	* src/bhv_press.cpp:
	* src/bhv_self_pass.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_shake_off_mark.cpp:
	* src/intention_receive.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	- replaced neck action with Neck_DefaultInterceptNeck.

	* src/neck_default_intercept_neck.cpp:
	* src/neck_default_intercept_neck.h:
	- totally reimplemented.
	- TODO: ViewAction and NeckAction member variables to be used as
	the default action.

	* src/bhv_find_player.cpp:
	- reimplemented the body target point search algorithm.

	* src/neck_turn_to_receiver.cpp:
	- reverted to the jo2008 version.

	* src/bhv_danger_area_tackle.cpp:
	- added time variable to avoid same calculation in the same cycle.

2008-07-09  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_defender_get_ball.cpp:
	- enabled Bhv_GetBall.

	* src/body_clear_ball2008.cpp:
	- added a profiling code.

	* src/bhv_get_ball.cpp:
	* src/bhv_get_ball.h:
	- reimplemented the search policy.

	* src/bhv_find_player.cpp:
	* src/bhv_mark_pass_line.cpp:
	* src/bhv_pass_test.cpp:
	* src/bhv_savior.cpp:
	- merged with the pass branche rev. 460

2008-07-08  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_offensive_half_defensive_move.cpp:
	* src/bhv_offensive_half_defensive_move.h:
	* src/bhv_offensive_half_offensive_move.cpp:
	* src/bhv_offensive_half_offensive_move.h:
	* src/Makefile.am:
	* src/role_offensive_half.cpp:
	* src/role_offensive_half.h:
	- added Bhv_OffensiveHalfOffensiveMove and
	- Bhv_OffensiveHalfDefensiveMove.

	* src/bhv_get_ball.cpp:
	- tuned opponent cycle buffer.

	* src/bhv_pass_test.cpp:
	* src/pass_course_table.cpp:
	* src/bhv_find_player.cpp:
	- tested another parameters.

	* src/mark_table.cpp:
	- considered a defense line value.

	* src/strategy.cpp:
	- considered a defense line value and a home position.

	* src/bhv_danger_area_tackle.cpp:
	- added time variable to avoid same calculation in the same cycle.

	* src/bhv_get_ball.cpp:
	- tuned a center position for Bhv_GetBall

	* src/bhv_side_back_cross_block_move.cpp:
	- cleaned up.
	- need to reipmlement the target point calculation.

	* src/neck_check_ball_owner.cpp:
	- fixed debug messages
	- fixed the initiali value in view width iterations.

	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	* src/bhv_side_back_defensive_move.h:
	- fixed a GetBall rule for defensive move.

	* src/bhv_block_ball_owner.cpp:
	* src/bhv_block_ball_owner.h:
	* src/bhv_block_side_attack.h:
	* src/bhv_pass_test.cpp:
	* src/role_offensive_half.cpp:
	* src/world_model_ext.h:
	- reimplemented Bhv_BlockBallOwner.
	- enabled USE_OFFENSIVE_MOVE_2008 in RoleOffensiveHalf

	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_defender_get_ball.cpp:
	* src/bhv_get_ball.cpp:
	* src/bhv_get_ball.h:
	* src/bhv_pass_test.cpp:
	* src/bhv_side_back_defensive_move.cpp:
	* src/neck_check_ball_owner.h:
	* src/role_offensive_half.cpp:
	* src/strategy.cpp:
	- enabled Strategy::get_defense_line_x()
	- disabled USE_OFFENSIVE_MOVE_2008

2008-07-08  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/world_model_ext.h:
	- fixed a bug of the player validation check.

	* src/neck_chase_ball.cpp:
	- fixed debug messages.

	* src/bhv_basic_defensive_kick.cpp:
	- disabled final pass.

2008-07-08  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_pass_test.cpp:
	- changed recursive pass speed.

	* src/neck_turn_to_receiver.cpp:
	- added missing change view code.

	* src/bhv_find_player.cpp:
	- fixed a bug, doesn't turn body to goal.

	* src/Makefile.am:
	* src/neck_default_intercept_neck.cpp:
	* src/neck_default_intercept_neck.h:
	- added a new neck action to handle neck when doing interception.

	* src/bhv_basic_move.cpp:
	* src/bhv_defender_get_ball.cpp:
	* src/bhv_block_ball_kicker.cpp:
	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_pre_process.cpp:
	* src/role_center_back.cpp:
	* src/role_side_back.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_center_forward.cpp:
	* src/role_side_forward.cpp:
	- replaced neck action when doing interception
	to Neck_DefaultInterceptNeck.

	* src/neck_turn_to_receiver.h:
	* src/neck_turn_to_receiver.cpp:
	- changed to use non-kickable player.

	* src/bhv_savior.cpp:
	- changed positioning aggresive a little.

	* src/pass_course_table.cpp:
	- added ghost player check.

	* src/bhv_pass_test.cpp:
	- disabled PassTest direct pass.
	- restricted pass speed of recursive pass.

	* src/bhv_find_player.cpp:
	- changed body direction to face to opponent goal if possible.

	* src/bhv_basic_defensive_kick.cpp:
	- reverted hold, clear, advance ball actions.

2008-07-07  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_side_back_defensive_move.cpp:
	* src/bhv_side_back_defensive_move.h:
	* src/role_offensive_half.cpp:
	- replaced a turn_neck action with Neck_CheckBallOwner.

	* src/neck_check_ball_owner.cpp:
	* src/neck_check_ball_owner.h:
	* src/Makefile.am:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_center_back_defensive_move.h:
	* src/bhv_get_ball.cpp:
	* src/neck_chase_ball.cpp:
	- added Neck_CheckBallOwner.

	* src/bhv_block_ball_owner.cpp:
	* src/bhv_block_ball_owner.h:
	* src/bhv_side_back_cross_block_move.cpp:
	* src/bhv_side_back_cross_block_move.h:
	* src/bhv_attacker_offensive_move2006.cpp:
	* src/bhv_attacker_offensive_move2007.cpp:
	* src/bhv_goalie_basic_move2006.cpp:
	* src/bhv_goalie_basic_move2006.h:
	* src/Makefile.am:
	* src/bhv_block_side_attack.cpp:
	* src/bhv_block_side_attack.h:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_center_back_defensive_move.h:
	* src/bhv_center_back_stopper_move.cpp:
	* src/bhv_center_back_stopper_move.h:
	* src/bhv_get_ball.h:
	* src/bhv_line_defense.h:
	* src/bhv_mark_pass_line.h:
	* src/bhv_side_back_defensive_move.cpp:
	* src/bhv_side_back_defensive_move.h:
	* src/role_center_back.cpp:
	* src/role_offensive_half.cpp:
	* src/role_offensive_half.h:
	* src/role_side_back.cpp:
	- added Bhv_SideBackCrossBlockMove.
	- added Bhv_BlockBallOwner.
	- started to reimplement the defense strategy.

2008-07-07  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_danger_area_tackle.cpp:
	- changed not to skip tackling when intercept point is back of
	our goal line.

	* src/bhv_basic_defensive_kick.cpp:
	- changed hold ball to pass.

	* src/neck_chase_ball.cpp:
	- fixed bugs concern with view width handling.

	* src/bhv_pass_test.cpp:
	- inhibit push action of PassCourseTable.

	* src/bhv_savior.cpp:
	* src/bhv_savior.h:
	- changed kick to use clear ball instead of pass at side of field
	if pass receiver is not in side field.

2008-07-06  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_pass_test.h:
	* src/bhv_pass_test.cpp:
	* src/pass_course_table.h:
	* src/pass_course_table.cpp:
	* src/neck_turn_to_receiver.cpp:
	* src/bhv_savior.cpp:
	- merged recursive pass to Bhv_PassTest/get_best_pass() mechanism.
	- changed some argument of methods in PassCourseTable PlayerAgent
	to WorldModel.

	* src/pass_course_table.cpp:
	* src/bhv_pass_test.cpp:
	- changed to do check before pass.

	* src/bhv_savior.cpp:
	- changed positioning to more closer to goal line.
	- changed tackle probability.

2008-07-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_side_back_defensive_move.cpp:
	* src/bhv_side_back_defensive_move.h:
	* src/Makefile.am:
	* src/bhv_line_defense.cpp:
	* src/role_side_back.cpp:
	* src/strategy.cpp:
	- added Bhv_SideBackDefensiveMove.
	- added debug messages to check the current ball area.

2008-07-05  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_pass_test.h:
	* src/bhv_pass_test.cpp:
	* src/pass_course_table.cpp:
	- changed direct pass to use recursive pass search.
	- disabled lead pass in bhv_pass_test.

2008-07-04  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_mark_pass_line.cpp:
	* src/bhv_mark_pass_line.h:
	* src/Makefile.am:
	* src/mark_table.cpp:
	* src/role_side_back.cpp:
	* src/strategy.h:
	- added Bhv_MarkPassLine.
	- added Starategy::markTable() to refer the result of mark
	analysis.

	* src/bhv_center_back_stopper_move.cpp:
	* src/bhv_center_back_stopper_move.h:
	* src/Makefile.am:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_get_ball.cpp:
	* src/bhv_line_defense.cpp:
	* src/player.conf:
	* src/role_center_back.cpp:
	* src/role_offensive_half.cpp:
	* src/role_side_back.cpp:
	- added Bhv_CenterBackStopperMove.
	- tuned defense lines.
	- added 'debug_block' and 'debug_mark' options.

	* src/bhv_pre_process.cpp:
	- added an intention reset code just after shoot behavior.

	* src/role_offensive_half.cpp:
	* src/role_offensive_half.h:
	- tuned the conditions for the press action.

	* src/bhv_block_side_attack.cpp:
	* src/bhv_block_side_attack.h:
	* src/bhv_center_back_defensive_move.cpp:
	* src/bhv_center_back_defensive_move.h:
	* src/Makefile.am:
	* src/bhv_defender_get_ball.cpp:
	* src/bhv_get_ball.h:
	* src/bhv_line_defense.cpp:
	* src/bhv_line_defense.h:
	* src/role_center_back.cpp:
	* src/role_side_back.cpp:
	- separated the implementation for test.

2008-07-04  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/body_pass_test.h:
	* src/body_pass_test.cpp:
	* src/bhv_pass_test.h:
	* src/bhv_pass_test.cpp:
	* src/neck_turn_to_receiver.cpp:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_keep_shoot_chance.cpp:
	* src/bhv_set_play_free_kick.cpp:
	* src/bhv_set_play_kick_in.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_set_play_indirect_free_kick.cpp:
	* src/bhv_goalie_free_kick.cpp:
	* src/bhv_savior.cpp:
	* src/role_center_forward.cpp:
	* src/role_side_forward.cpp:
	* src/role_offensive_half.cpp:
	* src/role_defensive_half.cpp:
	* src/role_center_back.cpp:
	* src/role_side_back.cpp:
	* src/role_sample.cpp:
	* src/Makefile.am:
	- changed type of PassTest from body action to behavior.
	- replaced a set of Body_PassTest and Neck_TurnToReceiver
	to Bhv_PassTest.

2008-07-04  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_penalty_kick.cpp:
	* src/bhv_savior.cpp:
	- merged savior penalty shoot outs.

2008-07-04  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_shoot2008.cpp:
	* src/bhv_shoot2008.h:
	* src/body_shoot2008.cpp:
	* src/body_shoot2008.h:
	* src/Makefile.am:
	* src/bhv_pre_process.cpp:
	* src/body_force_shoot.cpp:
	* src/pass_course_table.cpp:
	* src/shoot_table2008.h:
	- renamed Body_Shoot2008 to Bhv_Shoot2008.

	* src/bhv_pre_process.cpp:
	- added an intention reset code just after shoot behavior.

	* src/player.conf:
	- added debug_hold

2008-07-04  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/start.sh.in:
	- added --log-dir DIRECTORY, --log-ext EXTENSION option.

2008-07-03  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_get_ball.cpp:
	* src/bhv_get_ball.h:
	* src/bhv_line_defense.cpp:
	* src/bhv_line_defense.h:
	* src/Makefile.am:
	* src/bhv_defender_get_ball.cpp:
	* src/role_center_back.cpp:
	- added Bhv_GetBall, not completed yet.
	- added Bhv_LineDefense, not completed yet.

2008-07-03  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/start.sh.in:
	- added --debug-server-host HOST, --debug-server-port PORT option.

2008-07-03  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/home_positions.cpp:
	* src/home_positions.h:
	* src/Makefile.am:
	* src/bhv_block_dribble.cpp:
	- removed home_positions.{h,cpp}

	* src/start.sh.in:
	- added --savior (on|off) option.

	* src/helios_player.cpp:
	* src/kick_table.cpp:
	* src/player.conf:
	* src/role_goalie.cpp:
	* src/strategy.cpp:
	* src/strategy.h:
	- added a new command line option, '--savior' to switch the
	goalie's behavior.
	- restraineted warning messages.

2008-07-03  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/body_pass_test.cpp:
	- added debug information.

	* src/start.sh.in:
	- added -p|--port PORT, -P|--coach-port PORT option.

	* src/bhv_savior.h:
	* src/bhv_savior.cpp:
	- changed positioning backward.
	- changed some parameters.

2008-07-03  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/body_pass_test.cpp:
	- tuned the evaluation rule for the ball first speed.

	* src/body_shoot2008.h:
	- removed const from returned value.

	* src/bhv_block_dribble.cpp:
	* src/bhv_self_pass.cpp:
	* src/body_dribble2008.cpp:
	* src/role_center_forward.cpp:
	* src/role_side_forward.cpp:
	- renamed PlayerType::predictStamina*()

2008-07-03  Hiroki Shimora  <shimora@users.sourceforge.net>

	* src/bhv_savior.h:
	* src/bhv_savior.cpp:
	* src/role_goalie.cpp:
	* src/pass_course_table.h:
	* src/pass_course_table.cpp:
	* src/body_go_to_point2008.h:
	* src/body_go_to_point2008.cpp:
	* src/neck_chase_ball.h:
	* src/neck_chase_ball.cpp:
	* src/bhv_find_ball.h:
	* src/bhv_find_ball.cpp:
	* src/bhv_find_player.h:
	* src/bhv_find_player.cpp:
	* src/body_force_shoot.h:
	* src/body_force_shoot.cpp:
	* src/world_model_ext.h:
	* src/Makefile.am:
	- merged goalie code from helios2/.

	* AUTHORS:
	- added a developper.

	* src/body_dribble2008.cpp:
	* src/helios_coach.cpp:
	- fixed compilation probrem with gcc 4.2.

2008-07-02  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_set_play_kick_in.cpp:
	* src/body_advance_ball2008.cpp:
	* src/body_advance_ball_test.cpp:
	* src/body_advance_ball_test.h:
	* src/body_pass_test.cpp:
	* src/role_center_back.cpp:
	* src/role_center_forward.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_side_back.cpp:
	* src/role_side_forward.cpp:
	- diabled Body_AdvanceBall2008.

	* src/body_pass_test.cpp:
	- tuned the evaluation rule. added the ball speed checking.

	* src/bhv_set_play_goal_kick.cpp:
	* src/body_advance_ball2008.cpp:
	* src/body_clear_ball2008.cpp:
	- tuned the search range of Body_AdvanceBall2008.
	- added debug message.
	- fixed a defect of multi-step clear kick.

	* src/formations-433/offense-formation.conf:
	* src/formations-433/offense-formation.dat:
	* src/Makefile.am:
	* src/role_offensive_half.cpp:
	* src/strategy.cpp:
	* src/strategy.h:
	- added offense-formation.conf
	- fixed an illegal condition for RoleOffensiveHalf's press
	behavior.

	* src/formations-433/defense-formation.conf:
	* src/formations-433/defense-formation.dat:
	* src/Makefile.am:
	* src/role_center_back.cpp:
	* src/strategy.cpp:
	* src/strategy.h:
	- added defense-formation.conf
	- added a simple situation judgement.
	- enabledd Stopper zone positioning in RoleCenterBack.

	* src/mark_table.cpp:
	* src/mark_table.h:
	- reimplemented mark target selection algorithm.

	* src/mark_table.h:
	* src/Makefile.am:
	* src/strategy.cpp:
	* src/strategy.h:
	- copied MarkTable from helios2.

	* src/body_advance_ball2008.cpp:
	* src/body_advance_ball2008.h:
	* src/body_clear_ball2008.cpp:
	* src/body_clear_ball2008.h:
	* src/bhv_goalie_basic_move2007.cpp:
	* src/bhv_goalie_basic_move2007.h:
	* src/Makefile.am:
	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_block_dribble.cpp:
	* src/bhv_goalie_free_kick.cpp:
	* src/bhv_penalty_kick.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_set_play_kick_in.cpp:
	* src/intercept_simulator.cpp:
	* src/intercept_simulator.h:
	* src/role_center_back.cpp:
	* src/role_center_forward.cpp:
	* src/role_defensive_half.cpp:
	* src/role_goalie.cpp:
	* src/role_offensive_half.cpp:
	* src/role_side_back.cpp:
	* src/role_side_forward.cpp:
	- merged wigh helios2.
	- added PlayerEvaluator, Body_AdvanceBall2008 and
	Body_ClearBall2008

	* src/bhv_cross.cpp:
	* src/bhv_cross.h:
	* src/bhv_cross_to_center.cpp:
	* src/bhv_cross_to_center.h:
	* src/Makefile.am:
	* src/bhv_goalie_basic_move.h:
	* src/bhv_keep_shoot_chance.cpp:
	* src/bhv_pre_process.cpp:
	* src/bhv_pre_process.h:
	* src/formations-433/before-kick-off.conf:
	* src/formations-433/goal-kick-opp.conf:
	* src/formations-433/goal-kick-our.conf:
	* src/formations-433/goalie-catch-opp.conf:
	* src/formations-433/goalie-catch-our.conf:
	* src/helios_player.cpp:
	* src/helios_player.h:
	* src/role_center_back.cpp:
	* src/role_center_back.h:
	* src/role_center_forward.cpp:
	* src/role_center_forward.h:
	* src/role_defensive_half.cpp:
	* src/role_defensive_half.h:
	* src/role_goalie.cpp:
	* src/role_goalie.h:
	* src/role_offensive_half.cpp:
	* src/role_offensive_half.h:
	* src/role_sample.h:
	* src/role_side_back.cpp:
	* src/role_side_back.h:
	* src/role_side_forward.cpp:
	* src/role_side_forward.h:
	* src/soccer_role.h:
	* src/strategy.cpp:
	* src/strategy.h:
	- merged with helios2.

2008-06-30  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	* src/bhv_basic_move.cpp:
	* src/bhv_goalie_free_kick.cpp:
	* src/bhv_penalty_kick.cpp:
	* src/body_dribble2008.cpp:
	* src/body_hold_ball2008.h:
	* src/body_pass_test.cpp:
	* src/body_shoot2008.h:
	* src/kick_table.cpp:
	* src/role_center_back.cpp:
	* src/role_offensive_half.cpp:
	* src/shoot_table2008.cpp:
	- fixed compiler warnings.

2008-06-19  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_attacker_offensive_move.cpp:
	- added self stamina consideration.

	* src/bhv_basic_defensive_kick.cpp:
	- tuned dribble dash power.

	* src/bhv_basic_offensive_kick.cpp:
	- added new pass condition.

	* src/bhv_self_pass.cpp:
	- change the y target generation algorithm.

	* src/body_dribble2008.cpp:
	- tuned opponent check algorithm.

	* src/body_hold_ball2008.cpp:
	- tuned evaluation function. Checked more ditained opponent
	distance.

	* src/body_intercept2008.cpp:
	- tuned a wait position for a near interception.

	* src/kick_table.cpp:
	- tuned evaluation function. decreased the effect of kick power.

	* src/role_side_forward.cpp:
	- tuned opponent intercept buffer.

2008-05-23  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_attacker_offensive_move.cpp:
	- tuned an opponent avoidance position.
	- tuned a back dash condition.

	* src/bhv_basic_offensive_kick.cpp:
	- fixed a bug of hold ball condition.

	* src/bhv_goalie_basic_move.cpp:
	- fixed a bug of deep cross condition.

	* src/body_dribble2008.cpp:
	- added the check of out of pitch condition

	* src/body_intercept2008.cpp:
	- tuned the fastest interception condition.
	- tuned the wait position.

	* src/body_pass_test.cpp:
	- added the ghost and tackling player checking.

	* src/role_center_forward.cpp:
	- tuned the condition for the shoot chance area pass.

	* src/role_center_back.cpp:
	* src/role_side_back.cpp:
	- tuned the condition for opponent blocking.

	* src/role_side_forward.cpp:
	- removed old tackle code.
	- tuned the condition for interception.

2008-05-22  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/body_dribble2008.cpp:
	- fixed a debug meessage.

	* src/body_hold_ball2008.cpp:
	- fixed a bug of the rverse hold
	- added middle range target points
	- tuned a kickable buffer

	* src/body_intercept2008.cpp:
	- tuned the fasterst interrception rule.

	* src/body_pass_test.cpp:
	- tuned through pass parameters.

	* src/bhv_self_pass.cpp:
	- changed target point search order.

	* src/role_side_forward.cpp:
	- tuned a kick behavior in the shoot chance area.

2008-05-21  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_defender_basic_block_move.cpp:
	* src/bhv_goalie_chase_ball.cpp:
	* src/bhv_mark_close_opponent.cpp:
	* src/bhv_penalty_kick.cpp:
	* src/role_center_back.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_sample.cpp:
	* src/role_side_back.cpp:
	* src/role_side_forward.cpp:
	- replaced isSelfFastestPlayer() and isOurTeamBallPossessor().

	* src/bhv_self_pass.cpp:
	* src/bhv_self_pass.h:
	- implemented new search algorithm to execute 1 turn & dashes.

	* src/role_offensive_half.cpp:
	- changed a behavior for the cross area kick.

	* src/bhv_attacker_offensive_move.cpp:
	- added back dash rule.

	* src/bhv_keep_shoot_chance.cpp:
	- replaced one KickToCorner with HoldBall.

	* src/bhv_self_pass.cpp:
	* src/bhv_self_pass.h:
	- prepared the turn prediction code, but not used yet.

	* src/body_dribble2008.cpp:
	- tuned opponent count threshold.

	* src/body_hold_ball2008.cpp:
	- tuned kick noise buffer.

	* src/body_intercept2008.cpp:
	- tuned wait dash position.

	* src/helios_player.cpp:
	- added a simple restriction rule for the self message.

2008-05-20  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_self_pass.cpp:
	* src/body_dribble2008.cpp:
	- tuned opponent interfere checking.

	* src/kick_table.cpp:
	* src/kick_table.h:
	- added evaluation rule for the miss kick possibility.

	* src/formations-433/before-kick-off.conf:
	- tuned center forward initial position.

	* src/bhv_attacker_offensive_move.cpp:
	- tuned dash power.

	* src/bhv_basic_offensive_kick.cpp:
	- changed the ball handling policy when no plan.

	* src/bhv_self_pass.cpp:
	- added the check of ball position to finished().

	* src/bhv_set_play_kick_off.cpp:
	- fixed ball speed.

	* src/shoot_table2008.cpp:
	- tuned field player predictor.

2008-05-19  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	* src/intercept_simulator.cpp:
	* src/intercept_simulator.h:
	- copied from helios2 in order to test the simulator.

	* src/bhv_goalie_basic_move.cpp:
	- fixed positioning rule.

	* src/bhv_self_pass.cpp:
	- fixed opponent angle.

	* src/body_dribble2008.cpp:
	- reverted to the old evaluation rule in the keep dribble.
	- implemented a strict opponent checking for kick-turns-dashes.

	* src/body_pass_test.cpp:
	- tuned dash step buffer for through pass.

	* src/helios_coach.cpp:
	- fixed player speed compare functor.

	* src/shoot_table2008.cpp:
	* src/shoot_table2008.h:
	- implemented strict field player predictor.

	* src/kick_table.cpp:
	- reverted to the version of no strict kick noise checking

	* src/bhv_goalie_basic_move.cpp:
	- tuned the condition to change the goalie's body direction.

	* src/kick_table.cpp:
	* src/kick_table.h:
	- added a strict kick noise checking.

	* src/body_dribble2008.cpp:
	- tuned keep dribble simulator.

	* src/bhv_self_pass.cpp:
	- added counter variable to check the kickable state.

	* src/role_center_forward.cpp:
	- added self pass rule in the dribble attack area.

	* src/role_side_back.cpp:
	- disabled special cross block movement

2008-05-18  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_self_pass.cpp:
	* src/role_center_back.cpp:
	* src/role_side_forward.cpp:
	- cleaned up turn neck and change view actions.

	* src/role_defensive_half.cpp:
	- tuned dribble block condition.

	* src/body_hold_ball2008.cpp:
	- tuned front keep distance.

	* src/bhv_attacker_offensive_move.cpp:
	- added pointto off action.

	* src/bhv_basic_tackle.cpp:
	- tuned tackle condition

	* src/bhv_self_pass.cpp:
	- added more strict intention rule.

	* src/bhv_set_play_kick_off.cpp:
	- fixed a defect of multi kick

	* src/body_dribble2008.cpp:
	- fixed pitch size

	* src/bhv_basic_move.cpp:
	* src/bhv_press.cpp:
	- tuned dash power.

	* src/body_pass_test.cpp:
	- tuned the receiver filter for backward direct pass.

	* src/body_hold_ball2008.cpp:
	* src/body_hold_ball2008.h:
	- totally reimplemented.

	* src/kick_table.cpp:
	- tuned buffer size.

2008-05-17  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_self_pass.cpp:
	- tuned opponent checking.

	* src/kick_table.cpp:
	- tuned release interfere checking.

	* src/body_dribble2008.cpp:
	* src/body_dribble2008.h:
	* src/intention_dribble2008.cpp:
	- cleaned up. still need to test.

	* src/helios_trainer.cpp:
	* src/role_sample.cpp:
	- fixed the dribble test code

	* src/bhv_set_play_indirect_free_kick.cpp:
	* src/formations-433/indirect-freekick-opp-formation.conf:
	* src/formations-433/indirect-freekick-opp-formation.dat:
	* src/formations-433/indirect-freekick-our-formation.conf:
	* src/formations-433/indirect-freekick-our-formation.dat:
	- tuned indirect freekick positions.
	- fixed passer action for the indirect freekick.

	* src/body_pass_test.cpp:
	- modified the receiver filter for the direct pass.

	* src/formations-433/normal-formation.conf:
	* src/formations-433/normal-formation.dat:
	- tuned defender positions at the front of our goal.

	* src/bhv_danger_area_tackle.cpp:
	- changed the evaluation rule.

	* src/body_hold_ball2008.cpp:
	* src/body_hold_ball2008.h:
	- removed old algorithm.
	- changed opponent distance threshold to the parameterized value.

	* src/body_shoot2008.cpp:
	- added missing turn neck action.

	* src/role_center_back.cpp:
	- added the turn neck action to check the mark target player.

	* src/role_offensive_half.cpp:
	* src/role_side_forward.cpp:
	- tuned dash power for attack but opponent ball owner situation.

	* src/kick_table.cpp:
	- changed the policy and evaluation for the release state checking

	* src/bhv_breakaway_through_pass.cpp:
	* src/bhv_cross_to_center.cpp:
	* src/bhv_set_play_kick_off.cpp:
	* src/body_clear_ball_test.cpp:
	* src/body_pass_test.cpp:
	- disabled kick intention.

	* src/shoot_table2008.cpp:
	- fixed coding style.

	* src/body_hold_ball2008.cpp:
	- changed opponent distance threshold from 8.0 to 6.0.

	* src/bhv_pre_process.cpp:
	* src/body_shoot2008.cpp:
	- added turn neck action to check the opponent goalie

	* src/bhv_self_pass.cpp:
	- increased self cache size from 16 to 20.

	* src/role_center_forward.cpp:
	- fixed a condition for the cross receive move

	* src/body_hold_ball2008.cpp:
	* src/body_hold_ball2008.h:
	- implemented new opponent avoidance algorithm.

	* src/bhv_set_play_goal_kick.cpp:
	- fixed interception rule.

	* src/body_smart_kick.cpp:
	* src/kick_table.cpp:
	* src/kick_table.h:
	- tuned evaluation function.

2008-05-16  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/body_pass_test.cpp:
	- tuned oppnent direction checking in the through pass
	verification.

	* src/bhv_self_pass.cpp:
	- implemented more strict turn cycle prediction.
	- added intention class to dash one step.

	* src/bhv_set_play_free_kick.cpp:
	- fixed a defect of nearest teammate search.

2008-05-15  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/kick_table.cpp:
	- fixed a bug of the kick sequence evaluation.

	* src/bhv_attacker_offensive_move.cpp:
	- changed facing target point for interception.

	* src/bhv_self_pass.cpp:
	- changed the opponent velocity handling algorithm.

	* src/bhv_cross_to_center.cpp:
	- added offside line checking for receiver.
	- added tackling checking for receiver.

	* src/body_pass_test.cpp:
	- added tackling checking for receiver.

	* src/role_center_back.cpp:
	* src/role_side_back.cpp:
	- changed a line defense rule.

	* src/kick_table.cpp:
	* src/kick_table.h:
	- added copy construct and copy operator for Sequence.

	* src/bhv_self_pass.cpp:
	- fixed a bug in the self state cache generation.

	* src/Makefile.am:
	* src/body_hold_ball2008.cpp:
	* src/body_hold_ball2008.h:
	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_breakaway_through_pass.cpp:
	* src/bhv_keep_shoot_chance.cpp:
	* src/bhv_self_pass.cpp:
	* src/body_dribble2008.cpp:
	* src/body_kick_to_corner.cpp:
	* src/body_pass_test.cpp:
	* src/body_shoot2008.cpp:
	* src/body_smart_kick.cpp:
	* src/role_center_back.cpp:
	* src/role_center_forward.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_sample.cpp:
	* src/role_side_back.cpp:
	* src/role_side_forward.cpp:
	- copied HoldBall action from librcsc to reimplement and test the
	hold ball algorithm.

2008-05-14  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_self_pass.cpp:
	- tuned opponent checking.

	* src/helios_player.cpp:
	- changed OnePlayerMessage to SelfMessage.
	- fixed a bug of message type chekcing.

	* src/bhv_attacker_offensive_move.cpp:
	- changed turn neck action.

	* src/bhv_set_play_indirect_free_kick.cpp:
	- fixed a move path finding algorithm.

	* src/Makefile.am:
	* src/bhv_basic_tackle.cpp:
	* src/bhv_self_pass.cpp:
	* src/bhv_self_pass.h:
	* src/role_center_forward.cpp:
	* src/role_side_forward.cpp:
	- reimplemented SelfPass as a standalone action class.

	* src/bhv_cross_to_center.cpp:
	- disabled intentional kick.

	* src/body_smart_kick.cpp:
	- fixed debug message.

	* src/kick_table.cpp:
	- implemented more strict release interfere checking.

	* src/bhv_basic_tackle.cpp:
	* src/bhv_basic_tackle.h:
	* src/bhv_danger_area_tackle.cpp:
	* src/bhv_danger_area_tackle.h:
	* src/bhv_goalie_basic_move.cpp:
	* src/bhv_goalie_chase_ball.cpp:
	- reimplemented tackle behavior to adapt to the new tackle model.

	* src/bhv_pre_process.cpp:
	- added player's tackle checking for the simultaneous kick.

	* src/body_pass_test.cpp:
	- tuned buffer parameters.
	- tuned pass end speed.
	- tuned through pass checking.

2008-05-13  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/kick_table.cpp:
	* src/kick_table.h:
	- fixed evaluation rule.

	* src/body_pass_test.cpp:
	- tuned the end speed of direct pass.
	- tuned the checking of through pass.

	* src/bhv_block_dribble.cpp:
	- tuned virtual ball first speed.

	* src/body_advance_ball_test.cpp:
	- replaced kick action with new smart kick.

	* src/kick_table.cpp:
	* src/kick_table.h:
	- changed the evaluation policy of the release interfere.

2008-05-12  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	* src/body_shoot2008.cpp:
	* src/body_shoot2008.h:
	* src/shoot_table2008.cpp:
	* src/shoot_table2008.h:
	* src/bhv_pre_process.cpp:
	- copied a shoot action from librcsc in order to tune for the new rule.

	* src/bhv_block_dribble.cpp:
	- fixed opponent's virtual target.

	* src/formations-433/normal-formation.conf:
	* src/formations-433/normal-formation.dat:
	- tuned defender positioning.

	* src/kick_table.cpp:
	* src/kick_table.h:
	- Now, unused table values are removed after sorting.

	* src/body_smart_kick.cpp:
	- fixed a debug message.

	* src/kick_table.cpp:
	- fixed a bug of the current state position.
	- fixed a bug of the release interfere checking.

2008-05-11  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_player.cpp:
	* src/kick_table.cpp:
	* src/kick_table.h:
	- implemented a simple read/write for KickTable.

2008-05-10  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_breakaway_through_pass.cpp:
	* src/bhv_cross_to_center.cpp:
	* src/bhv_penalty_kick.cpp:
	* src/bhv_set_play_kick_off.cpp:
	* src/body_advance_ball_test.cpp:
	* src/body_clear_ball_test.cpp:
	* src/body_kick_to_corner.cpp:
	* src/body_kick_to_front_space.cpp:
	* src/body_pass_test.cpp:
	* src/helios_player.cpp:
	* src/role_center_forward.cpp:
	* src/role_side_forward.cpp:
	- replaced multi step kick with the new smart kick action.

	* src/Makefile.am:
	* src/body_smart_kick.cpp:
	* src/body_smart_kick.h:
	* src/kick_table.cpp:
	* src/kick_table.h:
	- added new kick simulator.

2008-05-08  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_block_dribble.cpp:
	* src/role_center_back.cpp:
	- fixed a bug of the dribble block action.

2008-05-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/reconnect.sh.in:
	- modified for HELIOS.

	* src/helios_player.cpp:
	* src/helios_player.h:
	- added implementations of virtual method.

	* src/role_side_forward.cpp:
	- added self pass action in the mid field. but not enabled yet.

	* src/role_center_back.cpp:
	* src/role_defensive_half.cpp:
	- added dribble block action.

	* src/bhv_basic_move.cpp:
	* src/bhv_pre_process.cpp:
	* src/intention_receive.cpp:
	- added change view action just before interception.

	* src/bhv_goalie_basic_move.cpp:
	- fixed a bug of goalie positioning.

	* src/body_pass_test.cpp:
	- reverted direct pass algorithm to the old versin.
	- added pass request consideration for dash step estimation.

2008-05-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_attacker_offensive_move.cpp:
	- tuned a breakaway condition.

	* src/bhv_block_dribble.cpp:
	* src/role_side_back.cpp:
	- implemented a virtual interception as a dribble block action.

	* src/body_pass_test.cpp:
	- tuned pass message buffer.

	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_goalie_free_kick.cpp:
	* src/bhv_keep_shoot_chance.cpp:
	* src/bhv_set_play_free_kick.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_set_play_indirect_free_kick.cpp:
	* src/bhv_set_play_kick_in.cpp:
	* src/body_pass_test.cpp:
	* src/body_pass_test.h:
	* src/neck_turn_to_receiver.cpp:
	* src/role_center_forward.cpp:
	* src/role_offensive_half.cpp:
	* src/role_side_forward.cpp:
	- changed the return value and argument types of get_best_pass.
	- changed pass message buffer.

	* src/helios_player.cpp:
	- added debug info for offside/defense line.

	* src/bhv_cross_to_center.cpp:
	- expand search area for cross receive point.

	* src/body_dribble2008.cpp:
	- disabled collision check while turn.

2008-04-30  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/body_dribble2008.cpp:
	- tuned avoid space buffer.

	* src/bhv_goalie_basic_move.cpp:
	- tuned dangerous area positioning and body direction rule.

	* src/role_center_forward.cpp:
	- added the check of self collision in the self pass.
	- tuned a pitch buffer for self pass.

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_basic_move.cpp:
	* src/role_center_back.cpp:
	* src/role_defensive_half.cpp:
	* src/role_side_back.cpp:
	- tuned tackle probability threshold.

	* src/Makefile.am:
	- added indirect freekick formations to the dist target.

	* src/helios_player.cpp:
	- added team name checking.

2008-04-29  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_cross_to_center.cpp:
	* src/body_pass_test.cpp:
	* src/role_center_forward.cpp:
	- fixed oppnent check.

	* src/body_intercept2008.h:
	- fixed a defect of include guard.

	* src/role_center_forward.cpp:
	- reimplemented self pass.

	* src/role_side_forward.cpp:
	- tuned dribble target in their penalty area.

	* src/body_pass_test.cpp:
	- reimplemented through pass algorithm.
	- reimplemented direct pass algorithm.

	* src/bhv_attacker_offensive_move.cpp:
	- tuned breakaway rule.

	* src/bhv_danger_area_tackle.h:
	- tuned default tackle probability.

	* src/body_intercept2008.cpp:
	- tuned fastest interception rule.

	* src/formations-433/kickin-our-formation.conf:
	* src/formations-433/kickin-our-formation.dat:
	- fixed side back position.

	* src/Makefile.am:
	* src/neck_turn_to_receiver.cpp:
	* src/neck_turn_to_receiver.h:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_keep_shoot_chance.cpp:
	* src/bhv_set_play_kick_in.cpp:
	* src/role_center_forward.cpp:
	* src/role_offensive_half.cpp:
	* src/role_side_forward.cpp:
	- added new neck action, Neck_TurnToReceiver.

	* src/body_intercept2008.cpp:
	* src/body_intercept2008.h:
	- added an aggressive interception.

	* src/body_pass_test.cpp:
	- tuned through pass.

	* src/bhv_attacker_offensive_move.cpp:
	* src/role_center_forward.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_side_forward.cpp:
	- tuned change_view rule.

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_attacker_offensive_move2006.cpp:
	* src/bhv_attacker_offensive_move2007.cpp:
	* src/role_center_forward.cpp:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_side_forward.cpp:
	- added change view action before interception.

	* src/intention_dribble2008.cpp:
	- added interruption for pass request.

	* src/body_pass_test.cpp:
	- tuned through pass dash step buffer.

	* src/body_dribble2008.cpp:
	- tuned self cache size
	- tuned avoidance buffer.

	* src/helios_player.cpp:
	- fixed attentionto.

2008-04-28  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	* src/body_dribble2008.cpp:
	* src/body_dribble2008.h:
	* src/body_intercept2008.cpp:
	* src/body_intercept2008.h:
	* src/intention_dribble2008.cpp:
	* src/intention_dribble2008.h:
	- copied from librcsc in order to develop the new version.

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_attacker_offensive_move2006.cpp:
	* src/bhv_attacker_offensive_move2007.cpp:
	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_basic_move.cpp:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_block_ball_kicker.cpp:
	* src/bhv_block_dribble.cpp:
	* src/bhv_cross_to_center.cpp:
	* src/bhv_danger_area_tackle.cpp:
	* src/bhv_defender_basic_block_move.cpp:
	* src/bhv_defender_get_ball.cpp:
	* src/bhv_go_to_static_ball.cpp:
	* src/bhv_goalie_basic_move.cpp:
	* src/bhv_goalie_basic_move2006.cpp:
	* src/bhv_goalie_basic_move2007.cpp:
	* src/bhv_goalie_chase_ball.cpp:
	* src/bhv_goalie_free_kick.cpp:
	* src/bhv_keep_shoot_chance.cpp:
	* src/bhv_mark_close_opponent.cpp:
	* src/bhv_penalty_kick.cpp:
	* src/bhv_pre_process.cpp:
	* src/bhv_prepare_set_play_kick.cpp:
	* src/bhv_press.cpp:
	* src/bhv_self_pass.cpp:
	* src/bhv_set_play.cpp:
	* src/bhv_set_play_free_kick.cpp:
	* src/bhv_set_play_kick_in.cpp:
	* src/bhv_shake_off_mark.cpp:
	* src/bhv_their_goal_kick_move.cpp:
	* src/body_advance_ball_test.cpp:
	* src/body_clear_ball_test.cpp:
	* src/body_forestall_block.cpp:
	* src/body_kick_to_corner.cpp:
	* src/body_kick_to_front_space.cpp:
	* src/body_pass_test.cpp:
	* src/helios_player.cpp:
	* src/intention_receive.cpp:
	* src/neck_goalie_turn_neck.cpp:
	* src/role_center_back.cpp:
	* src/role_center_forward.cpp:
	* src/role_defensive_half.cpp:
	* src/role_goalie.cpp:
	* src/role_offensive_half.cpp:
	* src/role_sample.cpp:
	* src/role_side_back.cpp:
	* src/role_side_forward.cpp:
	* src/view_tactical.cpp:
	- fixed debug messages.

	* src/formations-433/normal-formation.conf:
	* src/formations-433/normal-formation.dat:
	- tuned defense line for offensive situation.
	- tuned center forward position in the mid field.

	* src/bhv_go_to_static_ball.cpp:
	* src/bhv_pre_process.cpp:
	* src/bhv_set_play_free_kick.cpp:
	* src/bhv_set_play_kick_in.cpp:
	* src/formations-433/before-kick-off.conf:
	* src/formations-433/kickin-our-formation.conf:
	* src/formations-433/kickin-our-formation.dat:
	* src/formations-433/setplay-opp-formation.conf:
	* src/formations-433/setplay-opp-formation.dat:
	- fixed defects in the setplay situation.
	- tuned formation for the setplay.

	* src/bhv_cross_to_center.cpp:
	- tuned close cross targets.

	* src/role_center_forward.cpp:
	- tuned positioning rule for cross receive.

	* src/bhv_pre_process.cpp:
	* src/bhv_set_play_free_kick.cpp:
	- fixed defects of setplay.

	* src/bhv_attacker_offensive_move.cpp:
	- fixed positioning rule.

	* src/Makefile.am:
	* src/formations-433/indirect-freekick-opp-formation.conf:
	* src/formations-433/indirect-freekick-opp-formation.dat:
	* src/formations-433/indirect-freekick-our-formation.conf:
	* src/formations-433/indirect-freekick-our-formation.dat:
	* src/bhv_set_play_indirect_free_kick.cpp:
	* src/bhv_set_play_indirect_free_kick.h:
	* src/bhv_set_play_free_kick.cpp:
	* src/body_pass_test.cpp:
	* src/helios_player.cpp:
	* src/strategy.cpp:
	* src/strategy.h:
	- implemented a simple indirect freekick strategy.

	* src/formations-433/setplay-our-formation.conf:
	* src/formations-433/setplay-our-formation.dat:
	- tuned our freekick formation.

2008-04-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_attacker_offensive_move.cpp:
	- fixed a position for the opponent avoidance.

	* src/bhv_cross_to_center.cpp:
	- improved the ball first speed.

	* src/role_center_forward.cpp:
	- tuned a dribble target in the shoot chance area.

	* src/role_side_back.cpp:
	- tuned a cross block position threshold.

	* src/role_side_forward.cpp:
	- tuned a positioning in the shoot chance area.

	* src/bhv_pre_process.cpp:
	- disabled an intentional through pass.

	* src/body_pass_test.cpp:
	- fixed a bug of through pass buffer.

	* src/formations-433/normal-formation.conf:
	* src/formations-433/normal-formation.dat:
	- fixed center back position.
	- tuned offensive players.

2008-04-23  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_set_play_free_kick.cpp:
	* src/body_pass_test.cpp:
	* src/body_pass_test.h:
	* src/formations-433/normal-formation.conf:
	* src/formations-433/normal-formation.dat:
	* src/role_center_forward.cpp:
	* src/role_center_forward.h:
	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	* src/role_side_back.cpp:
	* src/role_side_forward.cpp:
	* src/role_side_forward.h:
	- tuned many things. mainly through pass condition.

2008-04-22  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/formations-433/normal-formation.conf:
	* src/formations-433/normal-formation.dat:
	- tuned.

	* src/body_pass_test.cpp:
	- fixed a bug of through pass.

	* src/bhv_basic_tackle.cpp:
	- added a tackle rule when opponent is not kickable.

	* src/helios_player.cpp:
	- changed a communication rule for the ball information.

	* src/bhv_attacker_offensive_move.cpp:
	- changed distance buffer rule.
	- tuned breakaway rule

	* src/bhv_goalie_free_kick.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	- fixed a defect of hold ball.

	* src/role_center_back.cpp:
	- tuned position.

	* src/role_side_back.cpp:
	- tuned cross block position.

	* src/role_side_forward.cpp:
	- tuned a pass condition while dribble attack.

2008-04-20  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_attacker_offensive_move.cpp:
	- tuned a breakaway condition.
	- tuned a distance buffer.

	* src/role_side_back.cpp:
	- tuned cross block point.

2008-04-19  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_coach.cpp:
	- fixed segmentation fault.

	* src/role_side_back.cpp:
	- tuned cross block position.

	* src/formations-433/normal-formation.conf:
	* src/formations-433/normal-formation.dat:
	- tuned defenders.
	- tuned defensive half.

	* src/helios_coach.cpp:
	* src/helios_coach.h:
	- reimplemented player substitution procedure.

	* src/role_center_back.cpp:
	- tuned intercept condition.

2008-04-18  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_basic_tackle.cpp:
	- reimplemented the tackle for v12+.

	* src/bhv_attacker_offensive_move.cpp:
	- restricted the trigger condition for an aggressive receiver
	action.

	* src/role_side_back.cpp:
	- disabled BlockDribble action.

	* src/bhv_penalty_kick.cpp:
	- increased dash power for dribble.

2008-03-19  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_cross_to_center.cpp:
	* src/bhv_goalie_basic_move.cpp:
	* src/bhv_goalie_chase_ball.cpp:
	* src/bhv_goalie_free_kick.cpp:
	* src/bhv_penalty_kick.cpp:
	* src/bhv_set_play.cpp:
	* src/bhv_their_goal_kick_move.cpp:
	* src/body_pass_test.cpp:
	* src/role_center_forward.cpp:
	* src/role_side_forward.cpp:
	- renamed ourPenaltyAreaLine to ourPenaltyAreaLineX
	- renamed theirPenaltyAreaLine to theirPenaltyAreaLineX

2008-03-17  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_block_dribble.cpp:
	* src/bhv_breakaway_through_pass.cpp:
	* src/bhv_breakaway_through_pass.h:
	* src/bhv_pre_process.cpp:
	* src/helios_player.cpp:
	* src/player.conf:
	* src/role_side_forward.cpp:
	- supported WorldModel::teammate() & WorldModel::opponent()

2008-02-08    <akiyama@akymws.a01.aist.go.jp>

	* src/bhv_basic_tackle.cpp:
	* src/bhv_danger_area_tackle.cpp:
	- supported a v.12 tackle model.

2008-01-16  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/home_positions.cpp:
	* src/role_center_back.cpp:
	* src/role_side_forward.cpp:
	- fixed compilation error.

2007-12-19  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_coach.cpp (HeliosCoach::doFirstSubstitute):
	- fixed a defect in the player substitution compatibility.

2007-11-13  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_basic_tackle.cpp:
	* src/bhv_danger_area_tackle.cpp:
	- considered maxTacklePower() and minTacklePower().

2007-11-12  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/start.sh.in:
	- added '--debug-coach' option.

	* src/helios_coach.cpp:
	* src/helios_player.cpp:
	- moved the initializaion of say message parsers from base
	classes.

2007-11-09  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/start.sh.in:
	- added a command line option, '--debug-coach'

	* src/helios_coach.cpp:
	- fixed an out of range error.

2007-11-08  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/coach.conf:
	* src/helios_coach.cpp:
	* src/player.conf:
	* src/start.sh.in:
	- added debug options for coach.
	- tested coach's audio sensor and memory.
	- updated client version to 12.

2007-10-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_basic_tackle.cpp:
	* src/bhv_danger_area_tackle.cpp:
	* src/coach.conf:
	* src/helios_coach.cpp:
	* src/player.conf:
	* src/role_side_forward.cpp:
	- supported new see message timing.

2007-10-13  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/coach.conf:
	* src/helios_coach.cpp:
	- supported 'use_team_graphic' option.
	- restricted the total number of team_graphic command per cycle.

2007-10-12  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_coach.cpp:
	* src/helios_coach.h:
	- implemented a team_graphic support.

2007-10-04  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_breakaway_through_pass.cpp:
	* src/bhv_pre_process.cpp:
	- follow the changes of librcsc.

2007-09-28  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_breakaway_through_pass.cpp:
	* src/bhv_pre_process.cpp:
	* src/bhv_attacker_offensive_move.cpp:
	- fixed include <rcsc/player/audio...> to <rcsc/common/audio...>

2007-09-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_coach.cpp:
	* src/helios_coach.h:
	* src/helios_trainer.cpp:
	- changed HeteroID to int.

2007-09-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/body_kick_to_corner.cpp:
	* src/neck_goalie_turn_neck.cpp:
	* src/bhv_defender_get_ball.cpp:
	* src/bhv_defender_basic_block_move.cpp:
	* src/view_tactical.cpp:
	* src/bhv_set_play_free_kick.cpp:
	* src/role_defensive_half.cpp:
	* src/role_side_forward.cpp:
	* src/bhv_breakaway_through_pass.cpp:
	* src/body_clear_ball_test.cpp:
	* src/bhv_goalie_basic_move2007.cpp:
	* src/role_sample.cpp:
	* src/bhv_basic_move.cpp:
	* src/bhv_block_ball_kicker.cpp:
	* src/role_goalie.cpp:
	* src/role_center_back.cpp:
	* src/role_side_back.cpp:
	* src/bhv_prepare_set_play_kick.cpp:
	* src/bhv_keep_shoot_chance.cpp:
	* src/bhv_goalie_free_kick.cpp:
	* src/strategy.cpp:
	* src/bhv_their_goal_kick_move.cpp:
	* src/bhv_basic_defensive_kick.cpp:
	* src/bhv_set_play.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_press.cpp:
	* src/bhv_attacker_offensive_move2006.cpp:
	* src/bhv_goalie_chase_ball.h:
	* src/bhv_basic_tackle.cpp:
	* src/bhv_penalty_kick.h:
	* src/role_offensive_half.cpp:
	* src/bhv_mark_close_opponent.cpp:
	* src/bhv_set_play_kick_in.cpp:
	* src/body_advance_ball_test.cpp:
	* src/intention_receive.cpp:
	* src/bhv_pre_process.cpp:
	* src/role_center_forward.cpp:
	* src/bhv_goalie_basic_move.cpp:
	* src/bhv_goalie_basic_move2006.cpp:
	* src/bhv_go_to_static_ball.cpp:
	* src/bhv_defender_get_ball.h:
	* src/bhv_danger_area_tackle.cpp:
	* src/body_forestall_block.cpp:
	* src/body_pass_test.cpp:
	* src/body_kick_to_front_space.cpp:
	* src/bhv_basic_offensive_kick.cpp:
	* src/bhv_cross_to_center.cpp:
	* src/bhv_goalie_chase_ball.cpp:
	* src/bhv_shake_off_mark.cpp:
	* src/bhv_penalty_kick.cpp:
	* src/bhv_block_dribble.cpp:
	* src/bhv_self_pass.cpp:
	* src/bhv_attacker_offensive_move.cpp:
	- changed rcsc/player/logger.h to rcsc/common/logger.h
	- fixed include order.

2007-09-03  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/body_forestall_block.cpp:
	* src/bhv_breakaway_through_pass.cpp:
	* src/bhv_block_dribble.cpp:
	* src/bhv_penalty_kick.cpp:
	* src/bhv_press.cpp:
	* src/role_defensive_half.cpp:
	* src/role_side_forward.cpp:
	* src/role_center_back.cpp:
	* src/role_side_back.cpp:
	* src/role_offensive_half.cpp:
	* src/role_center_forward.cpp:
	- supported the changes of librcsc. Vector2D::oprator bool() is no
	longer available.

	* src/bhv_attacker_offensive_move.cpp:
	- tuned positioning rule.

2007-08-31  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_attacker_offensive_move.cpp:
	- tuned position.

	* src/helios_player.cpp:
	- fixed communication rule for saySelf()

2007-08-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_player.cpp:
	* src/helios_player.h:
	- supported the changes of librcsc. added HeliosPlayer::saySelf()
	to broadcast the self status.

2007-08-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_breakaway_through_pass.cpp:
	* src/body_cross_to_center.cpp:
	* src/body_pass_test.cpp:
	* src/helios_player.cpp:
	- follw the changes of librcsc. implemented new communication.

2007-08-25  Hiroki Shimora <shimora@users.sourceforge.net>

	* src/helios_player.cpp:
	* src/soccer_role.h:
	* src/bhv_penalty_kick.cpp:
	- fixed some typos in comments.

2007-08-25  Hiroki Shimora <shimora@users.sourceforge.net>

	* src/start.sh.in:
	- fixed a bug in start script introduced at previous change.

2007-08-25  Hiroki Shimora <shimora@users.sourceforge.net>

	* src/start.sh.in:
	- changed start script to run on some environment that does
	  not have `seq' command such as *BSD systems.

2007-08-10  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_set_play_kick_in.cpp:
	* src/bhv_pre_process.cpp:
	* src/body_pass_test.cpp:
	* src/bhv_cross_to_center.cpp:
	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_set_play_free_kick.cpp:
	* src/bhv_breakaway_through_pass.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/helios_player.cpp:
	- follow the changes of librcsc.

	* src/helios_trainer.cpp:
	- changed sample action.

2007-07-31  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_breakaway_through_pass.cpp:
	- tuned angle width buffer.
	- tuned ball speed.

	* src/helios_player.cpp:
	- changed say actions to foloow the changes of librcsc.

	* src/role_center_forward.cpp:
	* src/role_side_forward.cpp:
	- tuned shoot area dash speed.

	* src/bhv_cross_to_center.cpp:
	- fixed a bug in the loop procedure.
	- changed to the non-enforce kick.

	* src/helios_player.cpp:
	- changed goalie message format.
	- changed offsile message rule.

2007-07-30  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_player.cpp:
	* src/bhv_set_play_free_kick.cpp:
	* src/bhv_breakaway_through_pass.cpp:
	* src/bhv_set_play_goal_kick.cpp
	* src/bhv_set_play_kick_in.cpp:
	* src/body_pass_test.cpp:
	* src/bhv_cross_to_center.cpp:
	* src/bhv_attacker_offensive_move.cpp:
	- reimplemented a communication to follow the changes of librcsc
	- tuned a rule of offside line communication.

2007-07-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_basic_defensive_kick.cpp:
	- supported the changes of librcsc and fixed communication rule.

2007-07-26  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_player.cpp (sayBall):
	- fixed the check of the length of ball message.

	* bootstrap:
	- Now, autoreconf is used for bootstrap.

	* configure.ac:
	- removed check of librcsc_formation.
	- added strict check of librcsc_gz.

	* Makefile.am:
	- added ACLOCAL_AMFLAGS

2007-07-20  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* configure.ac:
	- added check of librcsc_formation.

2007-07-18  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	- removed body_intercept_test.*, body_dribble_test.* and
	intention_dribble_test.*

	* src/helios_coach.cpp:
	* src/helios_coach.h:
	- added initImpl()

2007-07-07  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_player.cpp (sayIntercept):
	- fixed condition of self intercept info.

	* src/bhv_breakaway_through_pass.cpp:
	- added the check of  first speed restriction.

	* src/role_center_forward.cpp:
	- fixed bug in doCheckCrossPoint().

	* src/body_pass_test.cpp (evaluate_routes):
	- tuned opponent distance rate.

	* src/bhv_cross_to_center.cpp:
	- fixed target point. now receiver's velocity y is considered.

	* src/bhv_attacker_offensive_move.cpp (execute):
	- fixed breakaway rule. removed side area.

2007-07-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/formations-433/normal-formation.conf:
	* src/formations-433/normal-formation.dat:
	- tuned defenders' position in the defensive midfield

	* src/bhv_set_play_free_kick.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_set_play_kick_in.cpp:
	- improved avoid target rule.

	* src/body_pass_test.cpp (verify_through_pass):
	- tuned aggressve rule. added target point x threshold

	* src/role_center_back.cpp (doMarkMove):
	- tuned mark target calculation

	* src/bhv_defender_get_ball.cpp (execute):
	- tuned target point

	* src/bhv_attacker_offensive_move.cpp (execute):
	- tuned breakaway rule
	- tuned target point

2007-07-03  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_breakaway_through_pass.cpp (search):
	- tuned offside line buffer from 2.0 to 3.0

	* src/bhv_attacker_offensive_move.cpp (finished):
	- added heardPassTime as a finish condition.

	* src/bhv_breakaway_through_pass.cpp:
	- tuned end speed from 1.3 to 1.15

	* src/bhv_cross_to_center.cpp (create_close):
	- tuned goalie catchable buffer from 0 to 1.5

	* src/helios_player.cpp (attentiontoSomeone):
	- added attentionto for the attacke situation

	* src/role_center_back.cpp:
	* src/role_center_back.h:
	* src/role_side_back.cpp:
	- disabled dynamic defense positioning
	- added new restrictions in the center back mark positioning.
	- changed distance threshold for move position when opponent mark.

2007-07-02  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_player.cpp:
	- added debug code.

2007-07-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_breakaway_through_pass.cpp:
	- tuned end speed. 1.1 -> 1.3

	* src/helios_player.cpp:
	- cleaned up communication procedure.
	- added defense line communication.

2007-06-30  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/test/body_dribble_test.cpp (doKickTurnsDashes):
	- implemented quick turn

	* src/bhv_set_play_free_kick.cpp:
	* src/bhv_set_play_goal_kick.cpp:
	* src/bhv_set_play_kick_in.cpp:
	- implemented simple shake off mark action. need to reimplement
	more sophisticated algorithm later.

	* src/role_center_back.cpp:
	* src/role_side_back.cpp:
	- added dynamic positioning rule. opponent foward y-width is
	considered.

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_breakaway_through_pass.cpp:
	- tuned breakaway condition

	* src/bhv_basic_defensive_kick.cpp:
	- tuned hold threshold from 3.0 to 4.0

	* src/role_center_back.cpp:
	* src/role_center_back.h:
	- added getDefMidMoveTarget()

	* src/bhv_cross_to_center.cpp:
	- changed catchable area buffer to 0 for close cross

2007-06-29  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/test/body_dribble_test.cpp:
	- added new action doKickTurnsDashes(), but not implemented yet.

	* src/bhv_attacker_offensive_move.cpp:
	- fixed defect that causes the infinite intention

	* src/bhv_breakaway_through_pass.cpp:
	- added special case search in the penalty area line target

	* src/role_center_forward.cpp:
	* src/role_side_forward.cpp:
	- changed home position rule.

	* src/bhv_attacker_offensive_move.cpp:
	- tuned turn angle buffer.

	* src/bhv_attacker_offensive_move.cpp:
	* src/bhv_breakaway_through_pass.cpp:
	* src/bhv_breakaway_through_pass.h:
	* src/bhv_pre_process.cpp:
	* src/role_center_forward.cpp:
	* src/role_side_forward.cpp:
	* src/Makefile.am:
	- implemented intentional breakaway through pass.

	* src/helios_player.cpp (communicationImpl):
	- fixed target player rule in both of say and attentionto

	* src/bhv_attacker_offensive_move.cpp:
	- fixed breakaway target point

2007-06-28  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_attacker_offensive_move2006.cpp:
	* src/bhv_attacker_offensive_move2007.cpp:
	- added to implement an intentional breakaway and its
	communication. but not completed yet.

	* src/helios_player.cpp (communicationImpl):
	- fixed target player rule in both of say and attentionto

	* src/role_center_forward.cpp:
	* src/role_side_forward.cpp:
	- fixed home position rule

	* src/formations-433/goalie-formation.conf:
	* src/formations-433/goalie-formation.dat:
	* src/strategy.cpp:
	- aussported goalie-formation.conf

	* src/bhv_goalie_basic_move2007.cpp:
	* src/bhv_goalie_basic_move2007.h:
	- added for backup

	* src/formations-433/normal-formation.conf:
	* src/formations-433/normal-formation.dat:
	- tuned goalie positioning

	* src/bhv_shake_off_mark.cpp:
	* src/bhv_shake_off_mark.h:
	- added but not implemented yet.

2007-06-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/goalie_move_table.cpp:
	- added to search the goalie positioning matrix.

	* src/bhv_goalie_basic_move2006.cpp:
	* src/bhv_goalie_basic_move2006.h:
	* src/bhv_goalie_basic_move.cpp:
	* src/bhv_goalie_basic_move.h:
	- started to reimplement.

2007-06-26  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_block_dribble.cpp:
	* src/role_center_back.cpp:
	- inserted Neck_TurnToBallAndPlayer()

	* src/formations-433/normal-formation.conf:
	* src/formations-433/normal-formation.dat:
	- tuned defenders' position in defensive mid field

	* src/test/role_side_forward.cpp:
	- tuned action selection rule.

	* src/test/role_center_back.cpp:
	- tuned move target

	* src/helios_player.cpp (communicationImpl):
	- fixed communication rule for ball info

	* src/test/body_dribble_test.cpp:
	- changed opponent check rule and keep angle rule.

2007-06-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/role_center_back.cpp:
	- changed block center rule
	- replaced stopper area move with def mid area move.

	* src/bhv_basic_offensive_kick.cpp:
	- tuned opponent distance threshold.

	* src/test/body_intercept_test.cpp (doInertiaDash):
	- fixed inertia dash rule.

	* src/helios_player.cpp (communicationImpl):
	- added communication of the opponent intercept info

	* src/helios_coach.cpp:
	- changed hetero player assignment rule.

2007-06-24  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/test/body_dribble_test.cpp:
	* src/test/body_dribble_test.h:
	- reimplemented. this version has been tested only for the side
	back type.

	* src/test/body_intercept_test.cpp:
	- tuned trap buffer.

	* src/role_side_back.cpp:
	- enabled Bhv_BlockDribble

	* src/role_offensive_half.cpp:
	- tuned dribble block buffer.

2007-06-21  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/test/body_intercept_test.cpp (doInertiaDash):
	- added check of goalie.

	* src/test/body_dribble_test.cpp:
	- activated doTurnOnly()
	- cleaned up.

2007-06-20  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/role_offensive_half.cpp:
	* src/role_offensive_half.h:
	- cleaned up

	* src/bhv_pre_process.cpp:
	- swap the order of the intention and shoot check.

	* src/test/body_intercept_test.cpp:
	- tuned 1 step trap dash.

	* src/test/body_dribble_test.cpp:
	* src/test/body_dribble_test.h:
	* src/test/body_intercept_test.cpp:
	* src/test/body_intercept_test.h:
	* src/test/intention_dribble_test.cpp:
	* src/test/intention_dribble_test.h:
	- activated for the tuning.
	- fixed close interception buffer for the forward dash trap.

	* src/bhv_block_dribble.cpp:
	* src/bhv_block_dribble.h:
	- started to implent a new block move.

2007-06-19  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/home_positions.cpp:
	* src/home_positions.h:
	- added check of the last updated time.

2007-06-17  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_coach.cpp:
	* src/helios_coach.h:
	- implemented freeform message for player type broadcasting.

2007-06-15  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am
	* src/home_positions.cpp:
	* src/home_positions.h:
	* src/role_offensive_half.cpp:
	* src/role_defensive_half.cpp:
	* src/role_center_forward.cpp:
	* src/role_side_forward.cpp:
	* src/role_center_back.cpp:
	* src/role_side_back.cpp:
	- added new class, HomePositions, which hold all players' home
	position and their side type.

2007-06-14  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/bhv_pre_process.cpp:
	- supported the changes of librcsc.

2007-05-19  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	* src/coach.conf:
	* src/start.sh.in:
	- added coach.conf for the coach agent configuration.

2007-05-18  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* configure.ac:
	* src/Makefile.am:
	* src/reconnect.sh.in:
	- added a sample reconnect script.

	* src/bhv_penalty_kick.cpp:
	- fixed goalie behavior in the PenaltyScore or PenaltyMiss.

2007-04-06  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* configure.ac:
	- updated package version to 6.3.0. This version supported
	librcsc-1.3.0.

	* src/main_coach.cpp:
	* src/main_player.cpp:
	* src/main_trainer.cpp:
	* src/helios_coach.cpp:
	* src/helios_coach.h:
	* src/helios_player.cpp:
	* src/helios_player.h:
	* src/helios_trainer.cpp:
	* src/helios_trainer.h:
	- followed the changes of librcsc.

2007-04-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/body_dribble_test.cpp:
	* src/body_dribble_test.h:
	* src/body_intercept_test.cpp:
	* src/body_intercept_test.h:
	* src/body_shoot_test.cpp:
	* src/body_shoot_test.h:
	* src/shoot_table_test.cpp:
	* src/shoot_table_test.h:
	- some test codes are backported into librcsc.
	- some test codes are moved into test directry.

	* configure.ac:
	* config/ax_boost_base.m4:
	- added AX_BOOST_BASE for boost checking.

2007-03-11  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/body_forestall_block.cpp:
	- added wait counter.

	* src/role_center_forward.cpp (doShootAreaKick):
	- added hold counter

	* src/role_side_back.cpp:
	- fixed nearest attacker search.

2007-03-08  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/role_center_back.cpp:
	* src/role_side_back.cpp:
	- added block pass action.

	* src/bhv_cross_to_center.cpp (create_target):
	- added to check the dash step using PlayerType.

2007-03-07  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/strategy.cpp:
	* src/strategy.h:
	- added M_setplay_opp_formation

2007-03-06  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/body_dribble_test.cpp:
	- fixed an invalid self state prediction.

2007-03-02  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/body_intercept_test.cpp:
	- reimplemented an algorithm to select the best interception.

2007-03-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/shoot_table_test.cpp:
	* src/shoot_table_test.h:
	- now, goalie angle is always considered for the shoot score.
	- goalie_never_reach_ becomes the member of struct Shot.

	* src/strategy.cpp:
	- simplified ball area.

2007-02-26  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/body_advance_ball_test.cpp:
	* src/body_advance_ball_test.h:
	* src/body_clear_ball_test.cpp:
	* src/body_clear_ball_test.h:
	* src/Makefile.am:
	- copied actions from librcsc in order to reimplement.

2007-02-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/shoot_table_test.cpp:
	- fixed invalid turn angle margin

	* src/body_dribble_test.cpp:
	- changed dash count policy. Now, given dash count is used in
	search loop.

2007-02-23  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/shoot_table_test.cpp:
	* src/shoot_table_test.h:
	- reimplemented. Now, possibility of goalie catch is strictly checked.

2007-02-20  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/body_pass_test.cpp:
	* src/body_pass_test.h:
	* src/intention_dribble_test.cpp:
	* src/intention_dribble_test.h:
	- added for test.

2007-02-14  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	* src/body_shoot_test.cpp:
	* src/body_shoot_test.h:
	* src/shoot_table_test.cpp:
	* src/shoot_table_test.h:
	- added for the testing purpose.

2007-02-08  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/body_intercept_test.cpp:
	- tuned the best interseption estimation.

	* src/role_center_forward.cpp:
	- tuned positioning in the attack situation
	- tuned dribble dash step in middle area

2007-02-06  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/role_defensive_half.cpp:
	* src/role_offensive_half.cpp:
	- removed press action.

	* src/formations-433/normal-formatio.conf:
	* src/formations-433/normal-formatio.dat:
	- tuned forward position in the shootable area, especiary center
	forward.

2007-02-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/role_side_back.cpp (doCrossBlockAreaMove):
	- tuned block position.

2007-02-04  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/role_offensive_half.cpp (doOffensiveMove):
	* src/role_defensive_half.cpp (doDefensiveMove):
	- fixed incorrect condition.

	* src/*:
	- tuned many things, mainly defender positioning rules, and center
	forward formation.

2007-02-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/*.cpp:
	- changed the method to refer the nearest opponent.

2007-01-31  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/formations-433/normal-formation.conf:
	* src/formations-433/normal-formation.dat:
	- tuned offense.
	- tuned side back dribble block.

	* src/role_side_forward.cpp:
	- tuned dribble dodge condition in their penalty area

	* src/role_center_back.cpp:
	* src/role_side_back.cpp:
	- tuned defense line parameter

2006-12-20  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* configure.ac:
	* config/ax_boost.m4:
	- added boost checking macro.
	- updated AC_PREREQ to 2.60
	- added missing check of librcsc_param

2006-11-13  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/player.conf:
	- added log_ext option.

2006-11-08  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* configure.ac:
	- Now, HAVE_LIBRCSC_GZ is defined if it exists.

2006-11-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* configure.ac:
	- replaced AC_CHECK_HEADER with AC_CHECK_HEADERS

2006-10-21  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/role_center_forward.cpp:
	- tuned center forward positioning rule in shootable area.

2006-10-16  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/*:
	- follow the changes of librcsc.

2006-10-15  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_player.h:
	* src/helios_player.cpp (doInit):
	- foolow the new interface of librcsc. removed additional_param_map.

2006-10-09  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/helios_player.h:
	* src/helios_player.cpp (doInit):
	- added additional_param_map to follow the librcsc's changes.

2006-10-06  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/Makefile.am:
	- follow the change of librcsc. changed library dependency.

2006-10-04  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* src/formation.h:
	* src/formation.cpp:
	* src/formation_bpn.h:
	* src/formation_bpn.cpp:
	* src/formation_delaunay.h:
	* src/formation_delaunay.cpp:
	- removed and replaced by librcsc.

2006-07-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/start.sh.in:
	- added an input file as a configurable start script.

	* tokyotech/start.sh:
	- removed.

	* configure.ac:
	- added new variable LIBRCSCLIB to decide the install prefix of
	librcsc.

2006-07-03  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/action/body_dribble.cpp (getAvoidAngle):
	- fixed invalid boundary check.

	* rcsc/player/self_object.cpp (updateBallInfo):
	- tuned kickable buffer

2006-06-26  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/action/body_shoot.cpp (search):
	- fixed bug in one step shoot evaluation.

2006-06-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/player_agent.h:
	* rcsc/player/player_agent.cpp:
	- added ArmAction related methods.

	* rcsc/player/soccer_action.h:
	- added ArmAction.
	- renamed TurnNeckAction to NeckAction.
	- renamed ViewNeckAction to ViewAction.

2006-06-10  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/role_side_forward.cpp:
	- added ruled to kick to the near side corner when dribble attack
	situation.

	* tokyotech/bhv_cross_to_center.cpp:
	- fixed invalid condition check. as a result offense performance
	is improved greatly.

2006-06-08  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/debug_client.cpp (clear):
	- added all fugure's clear procedure.

	* rcsc/player/audio_sensor.h:
	* rcsc/player/audio_sensor.cpp:
	* rcsc/player/world_model.h:
	* rcsc/player/world_model.cpp:
	- started to implement new audio sensor protocol.

2006-06-07  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/action/body_dribble.h:
	* rcsc/action/body_dribble.cpp:
	- started to implement new dribble algorighm

2006-06-06  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/strategy.h:
	* tokyotech/strategy.cpp:
	- offense_formation.* and defense_formation.* are replaced by
	normal_formation.*
	- added setplay our formation.

	* tokyotech/formations-443/:
	* tokyotech/formations-442/:
	- started to create several formation patterns.

	* tokyotech/formations/:
	* tokyotech/formations-bpn/:
	* tokyotech/formations-delaunay/:
	- started to manage formation data for each method.

	* tokyotech/delaunay.h:
	* tokyotech/delaunay.cpp:
	* tokyotech/formation.h:
	* tokyotech/formation.cpp:
	* tokyotech/formation_bpn.h:
	* tokyotech/formation_bpn.cpp:
	* tokyotech/formation_delaunay.h:
	* tokyotech/formation_delaunay.cpp:
	- added Delaunay Triangulation formation construction method.
	- BPN type method was replaced.

2006-06-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/debug_client.h:
	* rcsc/player/debug_client.cpp:
	- added new interface for drawable figure types

2006-05-19  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/action/body_turn_to_angle.h:
	- added new basic action Body_TurnToAngle.

	* rcsc/player/player_agent.cpp (doViewAction):
	- added check of see synchronization status.

	* rcsc/player/action_effector.cpp (makeCommand):
	* rcsc/player/player_agent.cpp (doNeckAction):
	- added check of empty action.

2006-05-18  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* configure.ac:
	* rcsc/Makefile.am:
	* tokyotech/Makefile.am:
	- deleted entry for rcsc/client/*

	* rcsc/client/*:
	- moved to librcsc.

2006-05-16  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/*:
	- fixed for namespace rcsc.

	* rcsc/*:
	- included in namespace rcsc.
	- libtoolized again to migrate to the librcsc.

	* rcsc/client/Makefile.am:
	- changed to libtool library.

	* configure.ac:
	* Makefile.am:
	- removed switch of team building option.
	- removed newhope directory from building target.

	* tokyotech/Makefile.am:
	- removed unused variables.

	* newhope/*:
	- removed from repository trunk.

2006-05-09  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/bhv_basic_defensive_kick.cpp (execute):
	- added missing body action.

2006-05-06  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/player.conf (team_name):
	- changed default team name to HELIOS.

	* tokyotech/*:
	- added copyright

2006-05-03  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/helios_player.cpp (doAction):
	- fixed defect about penalty kick.

2006-05-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/role_center_forward.cpp (doShootAreaKick):
	- tuned opponent check and dribble dash power.

	* configure.ac:
	- updated minor version. helios-5.1.0 release.

2006-04-30  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/role_center_forward.cpp (doShootAreaKick):
	- added new dribble rule.

2006-04-28  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/role_center_back.cpp:
	- tuned defensive positioning target position.

2006-04-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/action/body_hold_ball.cpp (avoidOpponent):
	- improved opponent check rule.

2006-02-23  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/action/body_kick_to_relative.cpp:
	- cleaned up the code.

	* rcsc/action/body_hold_ball.cpp (avoidOpponent):
	- tuned keep distance buffer.

2006-02-22  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/action/bhv_go_to_point_look_ball.h:
	* rcsc/action/bhv_go_to_point_look_ball.cpp:
	* rcsc/action/body_hold_ball.h:
	* rcsc/action/body_hold_ball.cpp:
	* rcsc/action/body_stop_ball.h:
	* rcsc/action/body_stop_ball.cpp:
	- cleaned up the code.

	* rcsc/action/body_go_to_point.h:
	* rcsc/action/body_go_to_point.cpp:
	- cleaned up the code.

2006-02-21  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/player_agent.h:
	* rcsc/player/player_agent.cpp:
	- renamed some member methods
	- removed invalid server alive check.

2006-02-17  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/trainer/trainer_config.h:
	* rcsc/trainer/trainer_config.cpp:
	- added TrainerConfig class.

	* rcsc/coach/coach_config.cpp (createMap):
	- fixed invalid variable assignment.

	* rcsc/coach/coach_agent.h:
	* rcsc/coach/coach_agent.cpp:
	- cleaned up the code.
	- added CoachAgentImpl.

	* rcsc/trainer/trainer_agent.h:
	* rcsc/trainer/trainer_agent.cpp:
	- cleaned up the code.

	* tokyotech/*:
	* rcsc/action/*:
	- renamed action files.

2006-02-16  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/soccer_action.h:
	- SoccerAction is renamed to SoccerBehavior.
	- all actions are classified to body, neck, view or behavir.

	* rcsc/player/player_agent.h:
	* rcsc/player/player_agent.cpp:
	- SoccerIntentionQueue becomes the derived class of
	SoccerIntention.
	- Now, PlayerAgent holds the pointer of SoccerIntention as a
	member variable.

2006-02-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/player_object.h:
	* rcsc/player/world_model.h:
	- typedef of PlayerCont and PlayerPtrCont is moved to global
	scope.

2006-01-31  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/world_model.h:
	- renamed time() to getTime().
	- renamed accessor interface methods for sorted players.

2006-01-26  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/action/act_normal_view.h:
	* rcsc/action/act_synch_view.h:
	* rcsc/action/act_wide_view.h:
	* tokyotech/act_tactical_change_view.h:
	- added action type specifier.
	- changed parent class to ChangeViewAction..

	* rcsc/action/act_neck_only_field_scan.h:
	* rcsc/action/act_neck_only_to_goalie_or_scan.h:
	* rcsc/action/act_neck_only_to_ball.h:
	* rcsc/action/act_neck_only_to_low_conf_teammate.h:
	* rcsc/action/act_neck_only_to_ball_or_scan.h:
	* rcsc/action/act_neck_only_to_point.h:
	* tokyotech/act_goalie_turn_neck.h:
	- added action type specifier.
	- changed parent class to TurnNeckAction..

	* rcsc/player/player_agent.h:
	* rcsc/player/player_agent.cpp:
	- added reserved action pointer for turn_neck and change_view.
	- added interface to reserve turn_neck and change_view.
	- added interface to push intention directly.
	- removed interface to intention queue.

	* rcsc/player/soccer_action.h:
	- added TurnNeckAction, ChangeViewAction and BodyAction.

	* rcsc/player/self_object.h:
	- added isFreezed() method.

	* rcsc/action/intention_time_limit_action.h:
	* rcsc/action/intention_time_limit_action.cpp:
	- added new intention class.

2006-01-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/localization.h:
	* rcsc/player/localization.cpp:
	- renamed class and file.

	* rcsc/player/object_table.h:
	* rcsc/player/object_table.cpp:
	* rcsc/player/localizer.cpp:
	- landmark map is moved from LocalizerImpl to ObjectTable.

	* configure.ac:
	* tokyotech/Makefile.am:
	* rcsc/trainer/Makefile.am:
	- replaced librcsc_* by librcsc

	* rcsc/player/self_object.cpp:
	* rcsc/player/audio_sensor.h:
	* rcsc/player/audio_sensor.cpp:
	* rcsc/player/fullstate_sensor.h:
	* rcsc/player/fullstate_sensor.cpp:
	* rcsc/player/penalty_kick_state.h:
	* rcsc/player/penalty_kick_state.cpp:
	* rcsc/player/visual_sensor.h:
	* rcsc/player/visual_sensor.cpp:
	* rcsc/player/world_model.h:
	* rcsc/player/world_model.cpp:
	- renamed M_update_time to M_time.
	- renamed getUpdateTime() to time().

2006-01-24  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/visual_sensor.h:
	* rcsc/player/world_model.h:
	- renamed accessor interface methods.

2006-01-19  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/player_agent.cpp:
	- added see arrival timing counter for profiling purpose.

	* rcsc/player/player_config.h:
	* rcsc/player/player_config.cpp:
	- added M_wait_time_thr_synch_view and M_wait_time_thr_nosync_view
	to allow us to configure the decision wait threshold.
	- renamed M_sync_view_msec_thr to M_normal_view_time_thr;

	* rcsc/player/visual_effector.h:
	* rcsc/player/visual_effector.cpp:
	* rcsc/player/see_state.h:
	* rcsc/player/see_state.cpp:
	- renamed class and file.

	* rcsc/player/ball_object.h:
	* rcsc/player/ball_object.cpp:
	* rcsc/player/player_object.h:
	* rcsc/player/player_object.cpp:
	* rcsc/player/self_object.h:
	* rcsc/player/self_object.cpp:
	- added static member variables that hold count threshold value.

	* rcsc/player/player_config.h:
	* rcsc/player/player_config.cpp:
	* rcsc/coach/coach_config.h:
	* rcsc/coach/coach_config.cpp:
	- removed singleton interface.

	* rcsc/client/basic_client.cpp (connectTo):
	- added check of interval msec value

	* rcsc/player/coach_agent.h:
	* rcsc/player/coach_agent.cpp:
	* rcsc/player/player_agent.h:
	* rcsc/player/player_agent.cpp:
	* rcsc/player/trainer_agent.h:
	* rcsc/player/trainer_agent.cpp:
	- implemented doConnect() method.

	* rcsc/client/basic_client.h:
	- added pure virtual method doConnect() and insert it to the top
	of run();

2006-01-18  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/world_model.h:
	* rcsc/player/world_model.cpp (checkUnknownPlayer):
	- checkSideSeenPlayers() is renamed to checkTeamPlayer()
	- checkUnknownPlayers() is renamed to checkUnknownPlayer()
	- cleaned up.

2006-01-16  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/player_config.h:
	* rcsc/player/player_config.cpp:
	* rcsc/action/act_sync_view.cpp:
	- added new option 'see_sync_msec_thr'

2006-01-14  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/action/basic_actions.h:
	- changed to the header file that includes only header files.

	* rcsc/action/act_body_neck_to_ball.h:
	* rcsc/action/act_body_neck_to_point.h:
	* rcsc/action/act_body_only_to_ball.h:
	* rcsc/action/act_body_only_to_point.h:
	* rcsc/action/act_neck_body_to_ball.h:
	* rcsc/action/act_neck_body_to_point.h:
	* rcsc/action/act_neck_only_to_ball.h:
	* rcsc/action/act_neck_only_to_point.h:
	* rcsc/action/act_neck_to_relative.h:
	* rcsc/action/act_normal_view.h:
	* rcsc/action/act_wide_view.h:
	- backed from prevous revisou.

2006-01-08  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/action/act_synch_view.cpp (doTimerSynchView):
	- added check of view width when no current see.

	* tokyotech/act_tactical_change_view.cpp (doDefault):
	* tokyotech/helios_player.cpp:
	- added test version wide view

	* rcsc/player/body_sensor.h:
	- reverted to the old type parser.

2006-01-07  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/helios_player.cpp (doCommunication):
	- added common say message
	- removed pass message

	* rcsc/action/act_pass.cpp:
	* tokyotech/act_cross_to_center.cc:
	- removed effector().setPass()
	- added agent->doSay()

	* rcsc/player/player_agent.h:
	- added interface to audio sensor to allow to use codec.
	- changed effector() to const method.

	* rcsc/player/action_effector.h:
	* rcsc/player/action_effector.cpp:
	- removed pass info
	- added say message string to record action effect

	* rcsc/player/self_object.h:
	* rcsc/player/self_object.cpp:
	- added M_arm_movable to check if arm is movable

	* tokyotech/act_tactical_change_view.cpp (doDefault):
	- added wide view rule for field scan when ball lost.

	* rcsc/player/player_agent.cpp (adjustSeeSynchSynchMode)
	(adjustSeeSynchNormalMode):
	- added change view (narrow, high) when play_on and low mode.

2006-01-06  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/coach/coach_manager.cc:
	* rcsc/coach/coach_manager.h:
	- removed from Repository HEAD

	* rcsc/client/referee.h:
	* rcsc/client/referee.cpp:
	- playmode management was replaced by lircsc's GameMode class.
	- removed.

	* rcsc/action/act_turn_to_check_ball_vel.cc:
	* rcsc/action/act_turn_to_check_ball_vel.h:
	- removed.

	* rcsc/player/player_agent.cpp:
	- fixed see synch problems
	- fixed defect concerned withsynch_mode

	* rcsc/player/visual_effector.cpp:
	- added strict cycle management
	- added check of last see time and current time

	* rcsc/action/act_body_neck_to_ball.cc:
	* rcsc/action/act_body_neck_to_ball.h:
	* rcsc/action/act_body_neck_to_point.cc:
	* rcsc/action/act_body_neck_to_point.h:
	* rcsc/action/act_body_only_to_ball.cc:
	* rcsc/action/act_body_only_to_ball.h:
	* rcsc/action/act_body_only_to_point.cc:
	* rcsc/action/act_body_only_to_point.h:
	* rcsc/action/act_neck_body_to_ball.cc:
	* rcsc/action/act_neck_body_to_ball.h:
	* rcsc/action/act_neck_body_to_point.cc:
	* rcsc/action/act_neck_body_to_point.h:
	* rcsc/action/act_neck_only_to_ball.cc:
	* rcsc/action/act_neck_only_to_ball.h:
	* rcsc/action/act_neck_only_to_point.cc:
	* rcsc/action/act_neck_only_to_point.h:
	* rcsc/action/act_neck_to_relative.cc:
	* rcsc/action/act_neck_to_relative.h:
	* rcsc/action/act_normal_view.cpp:
	* rcsc/action/act_normal_view.h:
	* rcsc/action/act_wide_view.cpp:
	* rcsc/action/act_wide_view.h:
	- integrated to basic_actions.{h,cpp}
	- removed.

	* rcsc/action/basic_actions.h:
	* rcsc/action/basic_actions.cpp:
	- added.
	- some basic actions are integrated to these files.

	* rcsc/action/act_emergency_change_view.h:
	* rcsc/action/act_emergency_change_view.cpp:
	* rcsc/action/act_synch_view.h:
	* rcsc/action/act_synch_view.cpp:
	- Act_EmergencyChangeView was integrated to Act_SynchView

	* rcsc/player/body_sensor.h:
	- now parsing algorithm uses std::sscanf

	* rcsc/player/view_mode.h:
	- changed all characters of internal enumeration elements to
	capital letter.

	* rcsc/player/player_agent.cpp (adjustSeeSynchNormalMode):
	- added new adjust chance when ball is too far from player.

2006-01-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* configure.ac:
	- updated mejor version to 5.

	* Doxyfile.in (INPUT):
	- specified input direcoty

	* rcsc/player/ball_object.h:
	* rcsc/player/player_object.h:
	* rcsc/player/self_object.h:
	* rcsc/player/world_model.h:
	- *_conf variables are renamed to *_count
	- *Conf() methods are renamed to *Count()

	* rcsc/player/world_model.h:
	* rcsc/player/world_model.cpp:
	- added M_teamname member variable to store team name string

	* rcsc/player/player_agent.h:
	* rcsc/player/player_agent.cpp:
	- added DebugClient member varable.

	* rcsc/player/debug_client.h:
	- removed singleton interface.

	* rcsc/trainer/trainer_command.h:
	* rcsc/trainer/trainer_command.cpp:
	- type id in TrainerChangePlayerTypeCommand is changed to
	rcsc::HeteroID.

	* rcsc/trainer/trainer_agent.h:
	* rcsc/trainer/trainer_agent.cpp:
	- added Doxygen comments.
	- cleaned up.

2006-01-04  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/player_manager.h:
	* rcsc/player/player_manager.cpp:
	- removed

	* rcsc/coach/coach_manager.h:
	* rcsc/coach/coach_manager.cc:
	* rcsc/coach/coach_agent.h:
	* rcsc/coach/coach_agent.cpp:
	- CoachManager is integrated to CoachAgent
	- removed coach_manager.{h,cc}

	* rcsc/player/logger.h:
	* rcsc/player/logger.cpp:
	- added Doxygen comments

	* tokyotech/helios_coach.h:
	* tokyotech/helios_coach.cc:
	- fixed hetero id variables.

	* rcsc/coach/clang_manager.cpp:
	* rcsc/coach/coach_config.cpp:
	* rcsc/coach/cycle_info.cpp:
	* rcsc/coach/player_change_state.cpp:
	- changed file extention.

	* rcsc/player/player_intercept.h:
	* rcsc/player/player_intercept.cpp:
	* rcsc/player/self_intercept.h:
	* rcsc/player/self_intercept.cpp:
	- renamed from intercept_*

	* rcsc/player/localizer.h:
	* rcsc/player/localizer.cpp:
	* rcsc/player/localizer_particle.h:
	* rcsc/player/localizer_particle.cpp:
	- added Doxygen comments.
	- self angle estimation using marker is separated as new method.
	- self localization process is cleaned up by adding subroutines.
	- LocalizerParticle is removed. instead of them, introduced
	LocalizerImpl as a Pimpl ideom.
	- removed localizer_particle.{h,cpp}

	* rcsc/player/localizer.h:
	- renamed internal struct localize_player_t to PlayerT.

	* rcsc/player/visual_sensor.h:
	* rcsc/player/visual_sensor.cpp:
	- reimplemented stream operator using std::copy and
	std::ostream_iterator.
	- added '_' suffix to member variables of internal struct
	- renamed internal struct name. seen_*_t to PlayerT and so on.

2006-01-03  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/fullstate_sensor.h:
	* rcsc/player/fullstate_sensor.cpp:
	- renamed class FullstateSensor to FullStateSensor
	- added '_' suffix to member variables of internal struct

	* rcsc/action/act_stop_ball.cc:
	* rcsc/action/act_kick_two_step.cc:
	* rcsc/action/act_kick_to_relative.cc:
	* rcsc/action/act_kick_one_step.cc:
	* rcsc/action/act_kick_multi_step.cc:
	* rcsc/action/act_hold_ball.cc:
	* rcsc/action/act_advance_ball.cpp:
	* rcsc/action/act_clear.cpp:
	* rcsc/action/act_kick_collide_with_ball.cpp:
	* rcsc/action/act_pass.cpp:
	* rcsc/action/act_shoot.cpp:
	- added kickable check

	* rcsc/player/self_object.h:
	- renamed member method ballKickable() to isKickable().

	* rcsc/player/ball_object.h:
	* rcsc/player/ball_object.cpp:
	* rcsc/player/player_object.h:
	* rcsc/player/player_object.cpp:
	* rcsc/player/self_object.h:
	* rcsc/player/self_object.cpp:
	- some inline methods were moved to source file.

	* rcsc/player/ball_object.h:
	* rcsc/player/ball_object.cpp:
	* rcsc/player/player_object.h:
	* rcsc/player/player_object.cpp:
	* rcsc/player/player_config.h:
	* rcsc/player/player_config.cpp:
	- renamed gpos to pos

2006-01-02  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/player_agent.cpp (updateCurrentTime):
	- removed inconvinient error message (action miss message when
	server cycle stopped mode)

	* rcsc/player/visual_sensor.cpp (parseBall):
	- removed inconvinient pased distance value check.

	* rcsc/player/player_agent.h:
	- added SoccerIntentionQueue member variable.

	* rcsc/player/action_effector.h:
	* rcsc/player/action_effector.cpp:
	- added WorldModel membar variable as const reference.
	- removed world arugment from member methods
	- removed SoccerIntentionQueue member variable and its interface.

	* rcsc/player/stamina_mode.cpp:
	* rcsc/player/penalty_kick_state.cpp:
	- changed file extention from .cc

	* rcsc/player/ball_object.h:
	* rcsc/player/ball_object.cpp:
	* rcsc/player/player_object.h:
	* rcsc/player/player_object.cpp:
	* rcsc/player/self_object.h:
	* rcsc/player/self_object.cpp:
	- renamed.

	* rcsc/player/Makefile.am:
	- renamed object_*.* to *_object.*

2006-01-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/main_coach.cc:
	* tokyotech/main_player.cc:
	* rcsc/coach/coach_agent.cpp:
	* rcsc/player/player_agent.cpp:
	- changed command line option parse process.

	* rcsc/client/basic_client.h:
	- return value of doInit() is changed to bool to check parsing
	status.

	* rcsc/player/fullstate_sensor.h:
	* rcsc/player/fullstate_sensor.cpp:
	- added debug purpose print method.

	* rcsc/player/action_effector.h:
	* rcsc/player/action_effector.cpp:
	- action filter operations were moved from PlayerAgent

	* rcsc/player/player_agent.h:
	* rcsc/player/player_agent.cpp:
	- all action filter operation were moved to ActionEffector.
	- fullstate printing method was moved to fullstate sensor

	* rcsc/player/Makefile.am:
	- removed player_manager.*

	* rcsc/player/player_agent.cpp:
	* rcsc/player/player_manager.h:
	* rcsc/player/player_manager.cpp:
	- all implementation codes were moved to PlayerAgentImpl.

2005-12-31  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/client/referee.h:
	* rcsc/client/referee.h:
	- commented by Doxygen style
	- some inline code are moved to source file.

	* rcsc/coach/coach_command.h:
	* rcsc/coach/coach_command.cpp:
	* rcsc/player/player_command.h:
	* rcsc/player/player_command.cpp:
	* rcsc/trainer/trainer_command.h:
	* rcsc/trainer/trainer_command.cpp:
	- separeted some code to source file.
	- commented by Doxygen style

2005-12-30  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* configure.ac:
	- option --with-librcsc-prefix is simplified to --with-librcsc

2005-12-28  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/Makefile.am:
	- removed monitor from SUBDIRS

	* configure.ac:
	- removed rcsc/monitor/Makefile from AC_CONFIG_FILES

2005-12-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/action_effector.h:
	* rcsc/player/action_effector.cpp:
	- added command counter member variable.

	* rcsc/player/player_command.h:
	* rcsc/trainer/trainer_command.h:
	* rcsc/coach/coach_command.h:
	* rcsc/monitor/monitor_command.h:
	- all CommandType are replayed by librcsc's enumeration.
	- player commands' static counter variables are removed.

	* rcsc/soccer/:
	- removed unused direcotry.

	* rcsc/Makefile.am:
	- removed soccer from SUBDIRS

	* rcsc/client/referee.h:
	* rcsc/client/referee.cpp:
	- moved from rcsc/soccer/

	* rcsc/soccer/referee.h:
	* rcsc/soccer/referee.cpp:
	- moved to rcsc/client

	* rcsc/player/localizer_particle.cpp:
	* rcsc/trainer/trainer_agent.cpp:
	- rcsc/util/random.h is moved to rcsc/random.h

	* configure.ac:
	- removed rcsc/util/Makefile from config target.
	- removed check of boost/random.hpp and boost/lexical_cast.hpp
	- added check of librcsc_net, librcsc_util and librcsc_param
	- fixed AC_CHECK_LIB for rcsc_util and rcsc_param

	* tokyotech/Makefile.am:
	- removed -L$(top_srcdir)/rcsc/util and -lhelios_util

	* rcsc/trainer/Makefile.am:
	- removed -L$(top_srcdir)/rcsc/util and -lhelios_util

	* rcsc/Makefile.am:
	- removed util from SUBDIRS.

	* rcsc/util/stop_watch.h:
	* rcsc/util/stop_watch.cpp:
	* rcsc/util/time_stamp.h:
	* rcsc/util/time_stamp.cpp:
	- moved all files to librcsc.

2005-12-26  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/util/bpn1.h:
	* rcsc/util/random.h:
	- replaced by librcsc/rcsc/util/*

2005-12-22  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/action/act_sync_view.cpp:
	* rcsc/player/body_sensor.cpp:
	* rcsc/player/visual_effector.h:
	* rcsc/player/visual_effector.cpp:
	* rcsc/player/view_mode.h:
	* rcsc/player/view_mode.cpp:
	- implemented test version of new sync view mode.

2005-12-21  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/action/act_dribble.cpp (doKickDashes):
	- tuned ball controll distance y when player try kick and dashes.

2005-12-20  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* configure.ac:
	- added option --with-librcsc-prefix to check where librcsc is
	installed using AC_ARG_WITH.
	- removed LIBRCSC variable.

2005-12-16  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/param/:
	- removed.
	- replaced by librcsc.

	* rcsc/Makefile.am (SUBDIRS):
	- removed param from SUBDIRS

	* configure.ac:
	- removed param/Makefile from AC_CONFIG_FILES

2005-12-10  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/client/basic_client.h:
	- renamed changeWaitInterval() to setIntervalMSec()
	- changed resetServerAlive() to setServerAliver(bool)

	* rcsc/client/basic_client.h:
	* rcsc/client/basic_client.cpp:
	* rcsc/player/debug_client.h:
	* rcsc/player/debug_client.cpp:
	- UDPSocket was replaced by librcsc's UDPSocket.

	* rcsc/client/udp_socket.h:
	- remoded.

2005-12-08  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/soccer/soccer_types.h:
	- moved to librcsc.

	* rcsc/player/object_self.cpp:
	- calc_cos_min_max() and calc_sin_min_max() were replaced by
	AngleDeg's member method.

2005-12-07  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/world_model.h:
	* rcsc/soccer/referee.h:
	- changed all "Playmode" string to "PlayMode"
	- renamed enum LocalPlayMode to PlayModeType
	- renamed getPlaymodeBase to getPlayModeType

	* rcsc/param/server_param.cpp:
	- added missing include cmath to fix gcc-3.4 compilation
	problem.

	* rcsc/client/udp_socket.h:
	- added missing include cerrono to fix gcc-3.4 compilation
	problem.

2005-12-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/util/time_stamp.h:
	- added static utility method to calculate a raw time difference.

	* rcsc/util/stop_watch.h:
	* rcsc/util/stop_watch.cpp:
	- removed class MSecDiff.

	* configure.ac:
	- AC_CONFIG_HEADER was replaced by AC_CONFIG_HEADERS.

2005-12-02  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/soccer/soccer_math.h:
	* rcsc/soccer/soccer_math.cc:
	* rcsc/util/math_utils.h:
	* rcsc/util/math_utils.cpp:
	- removed

	* rcsc/soccer/soccer_math.h:
	- some geometric series utilities were replaed by librcsc's
	generic functions.

2005-12-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/soccer/soccer_math.h:
	* rcsc/soccer/soccer_math.cc:
	- removed almost all things.
	- ported to librcsc.

	* rcsc/util/Makefile.am:
	* rcsc/util/math_utils.h:
	* rcsc/util/math_utils.cpp:
	- removed from package

2005-11-29  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/soccer/game_time.h:
	* rcsc/soccer/game_time.cpp:
	- ported to librcsc.

	* configure.ac:
	- fixed problem about AC_ARG_ENABLE.

	* tokyotech/act_intercept.h:
	* tokyotech/act_intercept.cc:
	- removed.

	* newhope/Makefile.am:
	* newhope/main_player.cpp:
	* newhope/newhope_player.cpp:
	* newhope/newhope_player.h:
	* newhope/player.conf:
	* newhope/start.sh:
	- added new team.

	* tokyotech/act_advance_ball.h:
	* tokyotech/act_advance_ball.cc:
	* tokyotech/act_ckear_ball.h:
	* tokyotech/act_clear_ball.cc:
	* tokyotech/act_dribble.h:
	* tokyotech/act_dribble.cc:
	* tokyotech/act_neck_only_to_goalie_or_scan.h:
	* tokyotech/act_neck_only_to_goalie_or_scan.cc:
	* tokyotech/act_pass.h:
	* tokyotech/act_pass.cc:
	* tokyotech/act_shoot.h:
	* tokyotech/act_shoot.cc:
	* tokyotech/intention_dribble.h:
	* tokyotech/intention_dribble.cpp:
	* tokyotech/intention_kick.h:
	* tokyotech/intention_kick.cc:
	- moved to rcsc/action/

	* configure.ac:
	* tokyotech/Makefile.am:
	- added '--enable-tokyotech' option
	- added global shell variable TOKYOTECH

2005-11-24  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* debug_macro.h:
	- removed.

	* rcsc/soccer/game_time.h:
	* rcsc/soccer/game_time.cpp:
	- cleaned up the code.

	* rcsc/soccer/monitor_protocol.h:
	- replaced by librcsc's rcsc/rcg/types.h

	* rcsc/geom/*:
	- removed and replaced by librcsc.

2005-11-23  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/geom/rectangle_2d.h:
	* rcsc/geom/rectangle_2d.cpp:
	- renamed class name to Rect2D.

2005-11-22  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/geom/rectangle_2d.h:
	* rcsc/geom/rectangle_2d.cpp:
	- reimplemented. but still need to improve.

	* rcsc/geom/Makefile.am:
	- triangle_2d.{h,cpp} were replaced by librcsc.

2005-11-18  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/geom/straight_line_2d.h:
	* rcsc/geom/straight_line_2d.cpp:
	- removed and replaced by librcsc.

2005-11-16  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/soccer/playmode.h:
	- removed.

	* rcsc/geom/*:
	- introduced namespace rcsc.

	* rcsc/geom/angle_deg.h:
	* rcsc/geom/angle_deg.cpp:
	* rcsc/geom/vector_2d.h:
	* rcsc/geom/vector_2d.cpp:
	- removed and replaced by librcsc.

	* configure.ac:
	- added library check for librcsc.

2005-10-11  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/act_set_play_free_kick.cc (isKicker):
	- fixed invalid kicker judgement for field players when. playmode
	is after goalie catch.

	* tokyotech/formation.h:
	* tokyotech/formation.cpp:
	- replaced by latest source file from soccerwindow2.

2005-07-06  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/player_config.h:
	* rcsc/player/player_config.cpp:
	* rcsc/player/logger.h:
	- added ROLE as LEVEL15

	* rcsc/player/world_model.cpp (checkUnknownPlayers):
	- changed minimal distance threshold

	* tokyotech/helios_player.cpp (doAction):
	- changed role creation point. now role is created every action
	decetion.

	* rcsc/player/world_model.cpp (refreshObjectMatrix):
	- changed kickable player check policy. now players' accuracy
	count is checked.

2005-07-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/world_model.h:
	- added option to check accuracy count of other players for the
	player reference.

	* tokyotech/helios_player.cpp (doAction):
	- Act_PreProcess is moved from all roles.

	* tokyotech/strategy_helios.h:
	* tokyotech/strategy_helios.cpp:
	- removed.

	* rcsc/player/object_self.cpp (updateAfterSense):
	- fixed collision estimation.

2005-07-04  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/action/act_kick_two_step.cc (simulate_two_kick):
	- fixed bug that opponent is not checked for edge target.

	* tokyotech/role_defensive_midfielder.h:
	* tokyotech/role_defensive_midfielder.cpp:
	* tokyotech/role_offensive_midfielder.h:
	* tokyotech/role_offensive_midfielder.cpp:
	* tokyotech/role_defensive_half.h:
	* tokyotech/role_defensive_half.cpp:
	* tokyotech/role_offensive_half.h:
	* tokyotech/role_offensive_half.cpp:
	- renamed.

	* rcsc/player/player_config.h:
	- changed team configuration reference parameter from
	strategyFile() to configDir(). library user can specify the config
	file directory using this.
	- renamed roleNumber() to playerNumber()

	* tokyotech/formation_param.h:
	* tokyotech/soccer_strategy.h:
	- removed inconvinience classes.

	* tokyotech/strategy.h:
	* tokyotech/strategy.cpp:
	- added

2005-07-03  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/util/bpn1.h:
	* tokyotech/formation.h:
	* tokyotech/formation.cpp:
	- imported from soccerwindows

	* rcsc/player/intercept_table.cpp (predictTeammate):
	(predictOpponent):
	- added kickable player check before the estimation loop

	* rcsc/player/action_effector.h:;
	- added getter method for each command object pointer.

	* rcsc/param/server_param.h:
	- changed argument and return value of some utilities

	* rcsc/action/actb_intercept.h:
	* rcsc/action/actb_intercept.cpp:
	- added.

	* rcsc/player/intercept_player.h:
	* rcsc/player/intercept_player.cpp:
	- added predictFinal to estimate final reach cycle

2005-07-02  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/act_go_to_static_ball.cc:
	- fixed angle check

	* rcsc/action/act_go_to_point.h:
	* rcsc/action/act_go_to_point.cc:
	- removed dodge option
	- merged from dev-2004

	* rcsc/player/object_ball.h:
	- added inertia movement calculator utility methods.

	* rcsc/player/object_self.h:
	* rcsc/player/object_self.cpp:
	- added safety dash power check method.

	* rcsc/player/audio_codec.h:
	* rcsc/player/audio_codec.cpp:
	- implemented new ball info codec.

	* rcsc/player/world_model.h:
	* rcsc/player/world_model.cpp:
	- to reduce the compilation time, member variables of external
	modules are changed to pointer and instance moved to source code.

	* rcsc/player/localizer_particle.h:
	* rcsc/player/localizer_particle.cpp:
	* rcsc/player/visual_sensor.h:
	* rcsc/player/visual_sensor.cpp:
	- added seen_vel flag to seen_movable_t
	- removed CHNG_ERR constant.

2005-07-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/player/kick_table.h:
	* rcsc/player/kick_table.cpp:
	- just added. not fully implemented yet.

	* rcsc/player/world_model.h:
	- renamed some ambiguous interface name

	* rcsc/player/intercept_self.h:
	* rcsc/player/intercept_self.cpp:
	* rcsc/player/intercept_player.h:
	* rcsc/player/intercept_player.cpp:
	* rcsc/player/intercept_table.h:
	* rcsc/player/intercept_table.cpp:
	- added.

2005-06-30  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/param/player_type.h
	* rcsc/param/player_type.cpp:
	- addes dash distance table
	- PlayerTypeSet becomes singleton.

	* rcsc/player/intercept/:
	* rcsc/player/predictor/:
	- removed.

	* rcsc/player/intercept/interception.h:
	* rcsc/player/intercept/interception.cpp:
	- moved to player direcotry


	* rcsc/action/:
	- moved from player directory.

	* rcsc/player/player_agent.h:
	* rcsc/player/player_agent.cpp:
	- introduced Pimpl ideom to reduce the compilation time.

	* rcsc/player/visual_sensor.h:
	* rcsc/player/visual_sensor.cpp:
	* rcsc/player/world_model.h:
	* rcsc/player/world_model.cpp:
	- renamed some variables and methods

	* rcsc/player/debug_client.h:
	* rcsc/player/debug_client.cpp:
	* rcsc/player/soccer_viewer.h:
	* rcsc/player/soccer_viewer.cpp:
	- renamed file and class.

	* rcsc/player/player_config.h:
	* rcsc/player/player_config.cpp:
	* rcsc/player/logger.h:
	* rcsc/player/logger.cpp:
	- implemented new logging system.

2005-06-29  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/client/basic_client.h:
	* rcsc/client/basic_client.cpp:
	* rcsc/player/player_agent.h:
	* rcsc/player/player_agent.cpp:
	* rcsc/trainer/trainer_agent.h:
	* rcsc/trainer/trainer_agent.cpp:
	* rcsc/coach/coach_agent.h:
	* rcsc/coach/coach_agent.cpp:
	- reimplemented using select().
	- cleaned up the code significantly.

	* rcsc/util/time_stamp.h:
	* rcsc/util/time_stamp.cpp:
	- separeted from stop_watch

	* rcsc/parser/:
	- removed.
	- some modules are moved to each client module directory.

	* debug_macro.h:
	- removed

2005-06-28  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* rcsc/:
	* tokyotech/:
	- totally restructured.

2004-06-30  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/act_keep_shoot_chance.cc (execute):
	- tuned pass target threshold parameter

	* tokyotech/role_side_forward.cc (doShootAreaMove):
	- added new position condition

	* tokyotech/act_cross_to_center.cc (create_target):
	- tuned score calculation paramter

	* tokyotech/strategy.conf:
	- tuned some parameters

	* tokyotech/act_keep_shoot_chance.cc (execute):
	- turn on goal post target dribble

	* tokyotech/role_center_back.cc (doBasicMove):
	- tuned intercept parameter

	* tokyotech/role_offensive_midfielder.cc (doMove):
	(doOffensiveMove):
	(doShootAreaMove):
	- tuned positin

2004-06-29  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* player_action/act_before_kick_off.cc (execute):
	- halfTime parameter is hand coded.

2004-06-28  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/act_pre_process.cc (execute):
	- changed ball accuracy threshold for goalie.

	* tokyotech/role_offensive_midfielder.cc (doMove):
	(doShootAreaMove):
	(doOffensiveMove):
	- tuned target point parameter

	* tokyotech/act_set_play_free_kick.cc (execute):
	* tokyotech/act_set_play_kick_in.cc (execute):
	- changed condition of kicker selection

	* tokyotech/role_side_forward.cc (doShootAreaMove):
	- tuned target position parameter

	* tokyotech/act_dribble.cc (doKickDashes):
	- added special buffer to stamina

2004-05-05  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/act_intercept.cc:
	* tokyotech/act_dribble.cc (doDodge):
	* tokyotech/helios_coach.h:
	fixed bug of method of player type parameter.

2004-05-04  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/act_pass.cc (create_direct_pass):
	changed direct pass end speed

	* tokyotech/act_kick_to_corner.cc (execute):
	changed target point.

	* tokyotech/role_side_back.cc (doBlockSideAttacker):
	add new stamina rule

	* tokyotech/act_pass.cc (create_lead_pass):
	added limitation to direct pass receive point.

	* player_agent/player_agent.cpp (conserve_dash_power):
	changed ceil to rint.

	* tokyotech/role_side_forward.cc (doMiddleAreaKick):
	moved pass rule.

	* tokyotech/act_keep_shoot_chance.cc (execute):
	added new rule to dribble to opponent goal.

	* tokyotech/role_side_forward.cc (doShootAreaMove):
	changed target point correction condition
	(doShootAreaMove):
	fixed typo
	(doShootAreaMove):
	changed target point parameter
	(doShootAreaKick):
	added new rule to execute cross pass

	* player_action/act_kick_two_step.cc (simulate_two_kick):
	changed sub-target parameter

	* tokyotech/act_dribble.cc (doKickDashes):
	changed collision buffer.
	(doDodge):
	changed pitch buffer.
	added new target point assign algorithm.

	* tokyotech/role_side_forward.cc (doMiddleAreaKick):
	changed pass decision parameter.

	* tokyotech/act_shoot.cc (search):
	changed parameter for goalie.

	* tokyotech/intention_dribble.cpp:
	added new turn_neck rule to check opponent goalie.

	* tokyotech/role_side_forward.cc (doShootAreaMove):
	fixed bug of target point value

	* tokyotech/role_center_forward.cc (doMiddleAreaKick):
	changed pass decision threshold

	* player_agent/world_model.cpp (updateOffsideLine):
	added new update condition

	* tokyotech/act_kick_to_corner.cc (execute):
	changed end speed parameter.

	* tokyotech/role_side_forward.cc (doShootAreaMove):
	added new target point.
	fixed missing condition for dash power

	* tokyotech/act_shoot.cc (search):
	changed minimal shoot speed to max enable speed by one kick.

	* tokyotech/role_side_forward.cc (doBasicKick):
	changed action when stamina is exhausted

	* tokyotech/act_shoot.cc (search):
	changed opponent field player's reach cycle buffer parameter.

	* tokyotech/intention_dribble.cpp (execute):
	added new rule to check opponent goalie.

	* tokyotech/role_side_back.cc (doDangerAreaMove):
	added new condition for intercept.

	* player_action/act_emergency_change_view.cpp (execute):
	fixed bug about see time stamp

	* player_agent/player_manager.cpp (isDecisionTiming):
	changed decision msec limit parameter

	* tokyotech/act_goalie_basic_move.cc (getTargetPoint):
	changed target point y when ball is near to goal line

	* tokyotech/act_dribble.cc (isDodgeSituation):
	changed considerd sector size.

	* tokyotech/role_side_forward.cc (doShootAreaMove):
	added new rule to apart from blocker.

	* tokyotech/role_side_back.cc (doBlockSideAttacker):
	added new rule.

	* tokyotech/role_offensive_midfielder.cc (doShootAreaMove):
	added Logger output.
	added new rule.

	* tokyotech/role_side_back.cc (doDangerAreaMove):
	changed turn_neck tactics.

	* generic_utils/logger.h:
	* generic_utils/logger.cpp:
	removed directive 'ifdef DEBUG'

	* tokyotech/role_side_back.cc (doDangerAreaMove):
	added new intercept rule.

	* tokyotech/role_side_forward.cc (doShootAreaMove):
	added new rule of target point and dash power for very good
	chance

2004-05-03  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* coach_agent/coach_manager.cc (updateCurrentTime):
	disabled ifdef directive for DEBUG macro.

	* tokyotech/act_goalie_basic_move.cc (getTargetPoint):
	changed goallie poisitioning parameter 'edge_buf'.

	* tokyotech/act_clear_ball.cc (execute):
	added condition to swich kick mode when goal_kick_?

	* tokyotech/act_intercept.cc:
	fixed defect of debug ougput

	* player_agent/world_model.cpp:
	fixed defect of DEBUG macro

	* player_agent/visual_sensor.cpp:
	added missing include

	* generic_utils/logger.h:
	* generic_utils/logger.cpp:
	added DEBUG macro to switch Logger output completely
	(flush):
	disabled DEBUG macro.

	* player_agent/player_manager.cpp (isDecisionTiming):
	changed wait limit msec.

	* tokyotech/role_side_forward.cc (doShootAreaMove):
	added new targe point rule to correct receive point.

	* tokyotech/act_keep_shoot_chance.cc (execute):
	changed condition parameter for pass

	* tokyotech/role_side_forward.cc (doShootAreaMove):
	changed face_point.y parameter.

	* tokyotech/act_intercept.cc (estimate_active_close):
	changed control margin buffer
	(estimate_active_close):
	changed last ball distance check buffer.
	(estimate_one_dash):
	added buffer to control area margin
	(estimate_active):
	changed condition of success.

2004-05-02  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/act_set_play_goal_kick.cc (execute):
	added time info to debug output.

	* player_agent/player_manager.cpp (isDecisionTiming):
	changed wait limit msec.

	* sensor/communication_sensor.h:
	* sensor/communication_sensor.cc:
	* player_agent/world_model.h:
	* player_agent/world_model.cpp:
	added variables and methods to manage audio goalie info.

	* tokyotech/act_pre_process.cc (execute):
	changed receive intention process.
	now, all intention execution is doen from queued intention.

	* tokyotech/act_intercept.cc (estimate_passive):
	changed limit of loop max_cycle.
	(estimate_active):
	changed minimal turn margin parameter.

	* tokyotech/act_basic_move.cc (execute):
	changed recover mode off rule.

	* tokyotech/act_intercept.cc (estimate_active_close):
	added very strict turn_margin threshold

	* tokyotech/intention_receive.cc (execute):
	added enfoce interception rule.

	* tokyotech/act_pass.cc (execute):
	added target buffer vector

	* tokyotech/act_intercept.cc (execute):
	removed condtion of command_param check.
	(simulate_self_one_step):
	added new argument 'do_turn' to strictly check whether turn is
	done.
	(estimate_active_close):
	estimate_one_dash is moved to estimate_active
	(estimate_active_close):
	added new argument 'dash_only'

	* tokyotech/act_basic_move.cc (execute):
	added new rule for dash power.
	changed recover mode dash power.

	* tokyotech/act_intercept.cc (estimate_one_dash):
	added Logger output.

	* player_agent/soccer_viewer.cpp:
	changed printer format.

2004-05-01  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/role_side_forward.cc (doShootAreaMove):
	added new target x.
	commented out oen target rule.

	* player_agent/player_manager.cpp (updateCurrentTime):
	added condition to reduce useless debug output.

	* generic_utils/stop_watch.cc:
	* generic_utils/stop_watch.cpp:
	renamed extention.

	* tokyotech/act_basic_move.cc (execute):
	changed ball owner condition.

	* tokyotech/act_press.cc (execute):
	changed condition of ball owner.

	* tokyotech/act_keep_shoot_chance.cc:
	added pass check before dribble.

	* tokyotech/role_side_forward.cc (doDribbleAttack):
	changed parameter of normal dribble target.

	* player_action/act_kick_two_step.cc (is_opp_kickable):
	added support of player's velocity.

	* tokyotech/act_goalie_free_kick.cc (doKick):
	changed parameter for cheking distance from our goal

	* tokyotech/role_center_back.cc (doBasicMove):
	changed parameter for interception.

	* tokyotech/act_dribble.cc (doKickTurnsDash):
	commented out addtion of one dash move vector.

	* tokyotech/role_offensive_midfielder.cc (doMove):
	changed BA_DribbleAttack area move rule.
	(doDefensiveMove):
	changed default move rule to Act_BasicMove.

	* tokyotech/act_dribble.cc (doAction):
	added check for near opponent when only turn.

	* tokyotech/role_side_back.h:
	* tokyotech/role_side_back.cpp:
	removed member method 'doDefensiveMove'

	* player_agent/world_model.h:
	* player_agent/world_model.cpp:
	added new member variable 'M_setplay_count' to count setplay
	playmode cycles.

	* tokyotech/act_attacker_offensive_move.cc (execute):
	changed condition parameter for interception.

2004-04-30  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* player_agent/player_manager.cpp:
	removed some useless debug output.

	* tokyotech/role_side_forward.cc (doDribbleAttack):
	changed normal target.
	(doShootAreaKick):
	changed cut_in_point.
	(doDribbleAttack):
	fixed bug that the value of target is not allocated.

	* player_agent/player_agent.cpp (decideAction):
	added no initialized alarm count.

	* player_action/act_emergency_change_view.cpp (execute):
	added support for synch_mode.

	* player_agent/player_agent.cpp (adjustSeeSynchNormalMode):
	added self.setViewMode after send command.
	(adjustSeeSynchSynchMode):
	added self.setViewMode after send command.
	(adjustSeeSynchNormalMode):
	fixed bug of predicate. 7&&' is changed to '||'.

	* coach_agent/coach_agent.h:
	* coach_agent/coach_agent.cc:
	added support for synch_mode.

	* tokyotech/act_dribble.cc (doAction):
	added missing 'return' statement.

	* tokyotech/act_intercept.cc (execute):
	added missing 'return' statement.

	* tokyotech/act_goalie_chase_ball.cc (execute):
	fixed bug of goalie interception area chek.

	* player_agent/player_agent.h:
	added new server message type Server_Hear_Self.

	* player_agent/player_agent.cpp:
	added analyze of self audio.

	* player_agent/player_agent.cpp (sense):
	added missing analyzeHearPlayer method.

	* coach_agent/coach_agent.cc (sense):
	commented out the world model update operation.

	* soccer_basic/soccer_math.h (inertia_n_step_travel):
	added.
	(inertia_n_step_point):
	added.
	(round_kick_dist):
	added.
	(wind_effect):
	added.

	* predictor/.cvsignore:
	* predictor/intercept_base.h:
	* predictor/intercept_base.cpp:
	* predictor/intercept_info.h:
	* predictor/intercept_rough.h:
	* predictor/intercept_rough.cpp:
	* predictor/intercept_semi_strict.h:
	* predictor/intercept_semi_strict.cpp:
	* predictor/intercept_strict.h:
	* predictor/intercept_strict.cpp:
	added.

	* configure.ac:
	added new directory 'predictor'.

	* tokyotech/act_tactical_change_view.cpp (execute):
	added support of playmode AfterGoal_

2004-04-29  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* tokyotech/act_pre_process.cc (execute):
	added change_view action when ball search.

	* player_action/act_scan_field.cc (execute):
	added check of current self view width before execution of
	Act_WideView.

	* player_agent/visual_effector.cpp (canChangeViewTo):
	added check whether current see is received.

	* player_agent/player_agent.cpp (decideAction):
	visual().setNewViewMode() is moved from effector.makeCommand.
	(doChangeView): added check whether current see is received.

	* player_action/act_emergency_change_view.h:
	* player_action/act_emergency_change_view.h:
	added.

	* tokyotech/act_tactical_change_view.h:
	* tokyotech/act_tactical_change_view.h:
	added.

	* player_agent/action_effector.h:
	removed M_view_width member variable.

	* player_agent/action_effector.cpp (makeCommand):
	visual().setNewViewMode() is moved from setChangeView to
	makeCommand.

	* player_agent/player_manager.cpp (isDecisionTiming):
	added check operation for see arrival estimation.

	* player_action/act_before_kick_off.cc:
	changed coding style when used __FILE__ macro in formated output.
	"%s", __FILE__ -> "%s" ,__FILE__

	* tokyotech/act_danger_area_tackle.cc (execute):
	fixed missing ','.
	this causes debug output error...

	* player_action/act_neck_only_field_scan_simple.h:
	* player_action/act_neck_only_field_scan_simple.cc:
	removed.

	* generic_utils/logger.h:
	* player_agent/player_config.h:
	* player_agent/player_config.cpp:
	added debug_goalie option.

	* generic_utils/logger.cpp (flush):
	bugs of fputs???
	changed output function from fputs to fwrite.

	* tokyotech/act_dribble.cc (getAvoidAngle):
	fixed defect that score is not updated when update least
	congestion point.

	* player_agent/soccer_viewer.h:
	* player_agent/soccer_viewer.cpp:
	renamed extention.
	cleaned up the class interface.
	added Doxygen comments.

	* player_action/act_go_to_point.cc (get_recovery_save_power):
	changed stamina buffer from 1.0 to 3.0.

	* player_agent/localizer_particle.cpp (generateParticles):
	removed old code.

2004-04-28  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* player_agent/action_effector.cpp (makeCommand):
	added tackling check for dummy command.

	* generic_utils/stop_watch.h:
	changed default constructor's operation.
	default value is set to negative value.

	* player_action/Makefile.am:
	removed act_base.*

	* player_action/act_base.h:
	* player_action/act_base.cc:
	removed file.

	* player_action/act_base.h:
	* player_action/act_base.cc:
	removed Act_Say.
	removed Act_Pointto.
	removed Act_Attentionto.
	removed Act_Catch.
	removed Act_Dash.
	removed Act_Tackle.

	* player_agent/player_agent.cpp (doChangeView):
	added see synch check for new view width.

	* player_action/act_base.h:
	* player_action/act_base.cpp:
	removed Act_TurnNeck.
	removed Act_ChangeView.

	* player_agent/action_effector.cpp (makeCommand):
	done commmand is moved to before say command.

	* player_action/act_base.h:
	* player_action/act_base.cc:
	removed Act_Turn.
	removed Act_Kick.
	removed Act_Move.

	* tokyotech/soccer_role.h:
	* tokyotech/soccer_strategy.h:
	moved from 'player_agent'

	* tokyotech/helios_player.h:
	several member variables and method are moved from player_agent.*

	* player_agent/player_agent.h:
	* player_agent/player_agent.cpp:
	moved several method to concrete player class.

	* tokyotech/Makefile.am:
	* tokyotech/helios_player.h:
	* tokyotech/helios_player.cpp:
	added concrete player agent class.

	* player_action/soccer_action.h:
	* player_action/act_base.h:
	* player_action/act_base.cc:
	moved from 'player_agent' directory.

	* player_agent/player_agent.cpp (analyzeServerParam):
	addec synch_mode check to change alarm interval.

2004-04-27  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* player_agent/action_effector.cpp (queuedNextViewWidth):
	added new interface to get queued action info.

	* player_agent/visual_effector.cpp (setNewViewMode):
	added new method to calculate cycles till next see.

	* player_agent/player_agent.cpp (adjustSeeSynchSynchMode):
	added synch_mode support.

	* player_agent/object_player.cpp (updateBySee):
	fixed defect of Logger argument.

	* player_agent/player_agent.h:
	* player_agent/player_agent.cpp:
	removed updateViewMode method because same process is done in
	ActionEffector::makeCommand method.

	* player_agent/player_command.h:
	changed some member variables and interface.

	* player_agent/action_effector.cpp (makeCommand):
	added direct effect set to change_view, pointto and attentionto.

	* player_agent/world_model.h:
	added getSelf method to access SelfObject directly.

	* player_action/act_normal_view.h:
	* player_action/act_normal_view.cpp:
	* player_action/act_synch_view.h:
	* player_action/act_synch_view.cpp:
	* player_action/act_wide_view.h:
	* player_action/act_wide_view.cpp:
	added new action.

	* soccer_param/config_file_reader.h:
	* soccer_param/config_file_reader.cpp:
	renamed extention.
	commented out some debug outputs.
	fixed coding style.
	added Doxygen comments.

	* player_agent/localizer.h:
	* player_agent/localizer.cpp:
	renamed extention.
	fixed coding style.
	added Doxygen comments

	* player_agent/world_mode.h:
	* player_agent/world_model.cpp:
	renamed extention.
	debug output is replared to Logger.
	fixed coding style.
	added Doxygen comments

2004-04-26  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* player_agent/object_player.h:
	* player_agent/object_player.cpp:
	renamed extention.
	fixed coding style.
	added Doxygen comments.

	* player_agent/object_ball.h:
	* player_agent/object_ball.cpp:
	renamed extention.
	fixed coding style.
	added Doxygen comments.

	* player_agent/player_manager.h:
	* player_agent/player_manager.cpp:
	renamed class.
	fixed coding style.
	added Doxygen comments.

	* player_agent/game_manager.h:
	* player_agent/game_manager.cc:
	renamed to player_manager.*

	* player_agent/player_agent.h:
	* player_agent/player_agent.cpp:
	the enum of ServerMessage is moved to private.


2004-04-25  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* player_agent/player_agent.cpp:
	added uniform number check to ensure server connection.
	(doCommunication): added message length check.

	* player_agent/player_config.h:
	* player_agent/player_config.cpp:
	renamed some log option.

	* configure.ac:
	added --enable-debug option.
	This swich enable us to select to define the macro 'DEBUG'.

	* player_agent/player_config.h:
	* player_agent/player_config.cpp:
	added logger interface.

	* generic_utils/logger.h:
	* generic_utils/logger.cpp:
	added soccer debug swithes declaration.
	removed bitset.

	* generic_utils/test_logger.cpp
	added.

	* geom2d/angle_deg.h:
	renamed method atan_deg2 to atan2_deg.

	* geom2d/vector_2d.h:
	changed argument of invalid constructio method from bool to
	InvalidType.
	clean up several method implementation.

	* geom2d/angle_deg.h:
	renamed 'Sin, Cos, Tan' to 'sin, cos, tan'.

	* player_agent/soccer_action.h:
	* player_agent/soccer_role.h:
	* player_agent/soccer_intention.h:
	changed argument of constructor and execute interface.

2004-04-24  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* player_action/act_intercept.new.h:
	* player_action/act_intercept.new.cc:
	* player_action/act_intercept.old.h:
	* player_action/act_intercept.old.cc:
	removed.

	* soccer_basic/referee.h:
	* soccer_basic/referee.cpp:
	renamed class name.
	added new playmode 'AfterGoal_'.

2004-04-23  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* player_agent/Makefile.am:
	* player_agent/fullstate_sensor.h:
	* player_agent/fullstate_sensor.cpp:
	moved from sensor directory.

	* sensor/Makefile.am:
	* sensor/fullstate_sensor.h:
	* sensor/fullstate_sensor.cc:
	removed.

	* player_agent/player_config.h:
	* player_agent/player_config.cpp:
	added debug switches.

	* player_agent/player_agent.h:
	added decision making methods.
	* player_agent/player_agent.cpp (decideAction):
	added decision making methods for each effector.
	separated action decision.
	(outputDebug):
	added new method to clean up the code.

	* player_agent/action_effector.cpp (setPointto):
	renamed argment 'dir' to 'rel_dir'.

	* player_agent/player_command.h:
	renamed variable M_dir to M_rel_dir.

	* player_agent/player_agent.h:
	* player_agent/player_agent.cpp:
	added basic actions

	* player_agent/visual_effector.h:
	* player_agent/visual_effector.cpp:
	renamed some method.

	* generic_utils/logger.h:
	* generic_utils/logger.cpp:
	changed stream variable from ofstream to FILE* to improve output
	performance.

2004-04-22  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* generic_utils/logger.h:
	* generic_utils/logger.cpp:
	fixed bug about global variable 'g_str'.
	This causes a important bug.
	not used global variable for logger.

	* player_agent/visual_effector.h:
	* player_agent/visual_effector.cpp:
	added alpha version interface.

	* soccer_param/Makefile.am:
	added external library for testing program.

	* player_agent/object_self.h:
	added new method 'dashRate'

	* player_agent/player_agent.h:
	* player_agent/player_agent.cpp:
	added basic action.

	* soccer_param/player_type.h:
	* soccer_param/player_type.cpp:
	* soccer_param/player_param.h:
	* soccer_param/player_param.cpp:
	* soccer_param/server_param.h:
	* soccer_param/server_param.cpp:
	renamed extention.
	fixed coding style.
	add several utility methods.

	* player_agent/act_see_step_adjustment.h:
	* player_agent/act_see_step_adjustment.cc:
	removed.

2004-04-21  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* player_agent/action_effector.cpp:
	renamed.
	support new command counter.

	* player_agent/player_command.h:
	* player_agent/player_command.cpp:
	introduce new command counter method using static variable.

	* player_agent/player_agent.cpp (sense):
	several update process is moved to analyze*.
	This means player update internal model immediately when message arrived.

	* player_agent/localizer_particle.h:
	* player_agent/localizer_particle.cpp:
	renamed file name & class name.
	fixed coding style.

	* tokyotech/Makefile.am:
	add noinst_SCRIPTS and noinst_DATA.

	* player_agent/player_agent.cpp:
	renamed.

	* player_agent/player_agent.h:
	split decideAction.

	* player_agent/visual_effector.cpp (getNextTiming):
	add support method.

	* player_agent/object_self.h:
	change the interface name 'vwidth' and 'vquality' to 'viewWidth'
	and 'viewQuality'.

	* player_agent/visual_effector.cpp (willCome):
	add new method.

	* player_agent/visual_effector.h:
	renamed 'WidthType' to 'SynchType'

	* player_agent/visual_effector.cpp:
	changed name of member variable 'M_last_see_count' to 'M_current_see_count'

	* player_agent/visual_sensor.h:
	* player_agent/visual_sensor.cpp:
	moved from 'sensor'.

2004-04-20  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* player_agent/view_mode.h:
	* player_agent/view_mode.cpp:
	moved from 'soccer_basic' and changed file name from 'player_view_mode'.

2004-04-19  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* player_agent/player_command.h:
	* player_agent/player_command.cpp:
	moved from 'soccer_basic' to 'player_agent'

	* player_agent/player_agent.h:
	* player_agent/player_agent.cc:
	added initialized check variable.

	* sensor/audio_codec.h:
	* sensor/audio_codec.cpp:
	changed class name from 'CommunicationCoder' to 'AudioCodec'
	changed file name from 'communication_coder.{h,cc}' to 'audio_codec.{h,cpp}'

	* player_agent/player_agent.cc:
	add Doxygen comment.
	fixed coding style.
	removed 'using namespace std'

	* player_agent/game_manager.cc (isDecisionTiming):
	add the condition for new see synchronization.

	* player_agent/player_agent.h:
	add new interface finalize().

	* basic_client/basic_client.h:
	change accesibility of virtual method to protected.

	* basic_client/basic_client.cc (run):
	moved to source file.

2004-04-18  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* player_agent/player_agent.h:
	add compiler firewall PlayerAgentImpl, but not implemented yet.

	* sensor/visual_sensor.h:
	* sensor/visual_sensor.cc:
	add Player_Low_Mode to detect view quality.
	removed 'using namespace std'.

	* player_agent/soccer_intention.h:
	changed WorldModel to forward declaration.
	remove useless header includes.

	* tokyotech/act_*.cc:
	temporary intention pointer variable is changed to instance.

	* player_agent/player_config.h:
	add constant enum to manage debug output flags.

	* test_team/role_test.h:
	* test_team/role_test.cpp:
	* test_team/formation_test.h:
	* test_team/formation_test.cpp:
	* test_team/test_strategy.h:
	* test_team/test_strategy.cpp:
	* test_team/main_player.cpp:
	add test team

	* Makefile.am (SUBDIRS):
	add test_team

2004-04-15  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* generic_utils/logger.cpp:
	* generic_utils/logger.cpp:
	add new class & files.

	* player_agent/player_agent.cc:
	change see synchronization method (Beta).

	* player_agent/action_effector.h:
	add member variables of visual effector.

	* player_agent/visual_effector.h:
	* player_agent/visual_effector.cpp:
	add new class & files to manage visual info.

2004-04-13  Hidehisa Akiyama  <akky@users.sourceforge.jp>

	* configure.ac:
	create autotools settings.
