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#include <stdio.h>#include <libplayerc/playerc.h>typedef struct {	playerc_client_t *client;	playerc_position2d_t *position2d;	playerc_laser_t *laser;	char tabela[16]; //aqui vai a tabela... n sei o tamanho certo dela	int fitness; //opcional, depende de como vc implementar} individuo;int inicia_individuo(individuo* p, char* host, int porta) {	p->client = playerc_client_create(NULL, host, porta);	if (playerc_client_connect(p->client) != 0)		return -1;	p->position2d = playerc_position2d_create(p->client, 0);	if (playerc_position2d_subscribe(p->position2d, PLAYERC_OPEN_MODE) != 0)	{		fprintf(stderr, "error: %s\n", playerc_error_str());		return -1;	}	p->laser = playerc_laser_create(p->client, 0);	if (playerc_laser_subscribe(p->laser, PLAYERC_OPEN_MODE))		return -1;	//ativa motores	playerc_position2d_enable(p->position2d, 1);	return 0; //ok}void destroi_individuo(individuo* p) {	playerc_position2d_unsubscribe(p->position2d);	playerc_position2d_destroy(p->position2d);	playerc_laser_destroy(p->laser);	playerc_client_disconnect(p->client);	playerc_client_destroy(p->client);	p->position2d = NULL;	p->client = NULL;	p->laser = NULL;}int main(int argc, const char **argv){	int i;	individuo p[3]; //3 robos	//inicializa todos eles	for (i=0;i<3;i++) {		inicia_individuo(&p, "127.0.0.1", 6665+i);	}	while(1)	{		for (i=0; i<3; i++) {			//controla cada robo		    playerc_client_read(p[i]->client);			//<FAZER>Controle</FAZER>		  playerc_position2d_set_cmd_vel(p[i]->position2d, 3.0, 0, 0.0, 1);				}	}	for (i=0;i<3;i++) {		destroi_individuo(&p);	}  return 0;}