Merge pull request #69 from deepmt/modifyAttack

modify attack
improve keeper
Merge pull request #70 from hiroyoshi/master

improve keeper
improve keeper
Merge pull request #71 from hiroyoshi/master

improve keeper
add world calcuration average, defend changed a bit.

slight change in robot.cpp

beam.

changed defend some.

change defend some.

changed defend.

changed defend.

add world calcuration average, changed defend a bit.
Merge pull request #72 from kotaitoda/bottega019

add world calcuration average, defend changed a bit.
improve kicktofront.cpp
modigy attack
modify attack
modify attack
chenge getXY to getXY-average in some brains