class Plan5ko

# File plan/plan5ko.rb, line 8
def replan
  @plan.clear
  @agentInfo.whereIsBall();
  @agentInfo.isBallMine();
  @agentInfo.nearBall();
  @agentInfo.ballControlPosition();
      
  @target_position = @agentInfo.ballControlPosition()
  @target_position_phi = @target_position.getPhi()
  @kick_target = @agentInfo.kickTarget()
  @kick_target_phi =  @kick_target.getPhi()
  
  if EnvironmentModel.beamablePlayMode
      @agentInfo.loguj('Beam');
      #@plan << Beam.new(@formationPosition)
      #@beamed = true
      return
  elsif (me.on_ground? or me.is_lying_on_back? or me.is_lying_on_belly?)
      @agentInfo.loguj('GetUp');
      @plan << GetUp.new(Proc.new{me.on_ground?})
  elsif (not see_ball?) 
              @agentInfo.loguj('Localize');
      @plan << Localize.new(Proc.new{(not see_ball?)})
  elsif (not is_ball_mine? or not straight?)
      @agentInfo.loguj('Walk');
      @plan << Walk2Ball.new(:ball, Proc.new{not is_ball_mine? or not straight?})# or (not see_ball?)})
  elsif not turned_to_goal?
      @agentInfo.loguj('Turn');
      @plan << Turn.new(@kick_target, Proc.new{not turned_to_goal?})
  elsif (is_ball_mine? and straight? and turned_to_goal?)
    @agentInfo.loguj('Kick');
      @plan << Kick.new(@kick_target)
  else
      @agentInfo.loguj('???');
      @plan << GetUp.new(Proc.new{me.on_ground?})
  end
end