AvailableActions = ["FrontWalkS", "FrontWalkF", "RotateAroundLeft", "RotateAroundRight", "Kick3mRight"];
ActionsDescription =
(
//	(ActionName,		PreviousActions,	Preconditions,	Time, 	DeltaX,	DeltaY,	DeltaT,	DeltaBallX=0,	DeltaBallY=0),
	("FrontWalkS",			[],					[],				1.00,	0.2,	0.0,	0.0,	0.0,			0.0),
	("FrontWalkF",			["FrontWalkS", "FrontWalkF"],[],				0.50,	1.0,	0.0,	0.0),
	("RotateAroundLeft",			[],					[],				0.20,	0.0,	0.0,	15.0),
	("RotateAroundRight",		[],					[],				0.20,	0.0,	0.0,	-15.0),
	("Kick3mRight",			[],					["HasTheBall"],
															2.00,	0.0	,	0.0,	0.0,	3.0,			0.0)
	//("KickKungFuRight",		[],					["HasTheBall"/*Todo preconditions*/],
	//														0.5,	0.0,	0.0,	0.0,	0.0,			-2.5)
);

// if previousActions parameter is an empty list, all actions in ActionsAvailable are assumed.
// the redefinition of an actionDescription for a given pair of actions overrides the previous one.
// the existence of the actions described in ActionsDescription is not being checked 
// the action "_root" is given by default to the first node of the planning node.
// Available preconditions are: "AlignedWithBall", "HasTheBall", "AlignedWithTarget", "AlignedWithBallTarget"