Titus Livius (Livy), The History of Rome, Book 44
Rev. Canon Roberts, Ed.

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It was past the summer solstice and the time of day was approaching noon; the march had been made amidst clouds of dust and under a burning sun. [2] Lassitude and thirst were already felt, and it was certain that both would be aggravated at high noon. The consul was determined not to expose his men while thus suffering to an enemy who was fresh and in full vigour. [3] But such was the eagerness of the men for battle under any circumstances that it needed as much skill on the part of the consul to beguile his own men as to deceive the enemy. [4] The battle line was not completely formed, and he urged the military tribunes to hasten its formation; he rode round the ranks and fired the spirits of the men by his words. [5] On this they at first eagerly demanded the signal for battle; then under the increasing heat their faces showed less animation and their voices became weaker; some hung over their shields and propped themselves up with their spears. Now at last he gave the order to the centurions of the first rank to mark out the front line for a camp and to deposit the baggage. [6] When the soldiers became aware of what was happening, some openly expressed their delight that he [7??] had not compelled them to fight, exhausted as they were with the toilsome march and the intense heat. [8] The staff officers and the commandants of the foreign contingents, Attalus amongst them, were standing round the commander-in-chief and unanimously approving of what they thought was his decision, namely, to give battle. Not even to them had he disclosed his intention of delaying action. The sudden change of plan made nearly all of them silent. [9] Nasica alone had the courage to admonish the consul not to do as former commanders had done, and by avoiding battle let the enemy slip through his fingers. [10] If Perseus got away in the night, he was afraid that infinite trouble and danger would be incurred in following him into the heart of Macedonia, and they would spend the summer as previous generals had done, in feeling their way through the passes and tracks of the Macedonian mountains. [11] He strongly advised the consul to attack the enemy while he had him in level and open country, and not to lose the proffered chance of victory. The consul was not at all offended at the frank admonition of so distinguished a youth. [12] "Nasica," he replied, "I, too, once felt as you do now, and one day you will feel as I do now. I have learnt, through the many accidents of war, when to fight and when to abstain from fighting. [13] I have no time now, standing as I am at the head of the line, to explain to you why it is better to rest today. Ask me for my reasons some other time; for the time being you will be content to submit to the authority of a veteran commander." [14] The young man was silent; he was sure that his general saw some impediments in the way of a battle which were not apparent to him.