class PlanTournamentGetUpFromBelly

# File plan/planTournamentGetUpFromBelly.rb, line 7
def initialize
      @beamed = false
      @falled = false
      @in_falled_pose = false
      @up = false
      super()
end

# File plan/planTournamentGetUpFromBelly.rb, line 15
def replan
  @plan.clear
  @agentInfo.whereIsBall();
  @agentInfo.isBallMine();
  @agentInfo.nearBall();
  @agentInfo.ballControlPosition();
  @agentInfo = Java::sk.fiit.jim.agent.AgentInfo.getInstance
  @agentModel = Java::sk.fiit.jim.agent.models.AgentModel.getInstance
      
  if not @beamed and not @falled and not @in_falled_pose and not @up and EnvironmentModel.beamablePlayMode 
              @agentInfo.loguj('Beam, wait for Fall');
              @beamed = true
              @plan << Beam.new(Java::sk.fiit.robocup.library.geometry.Vector3D.cartesian(-3, 0, 0.4))
      elsif @beamed and not @falled and not @in_falled_pose and not @up and EnvironmentModel.beamablePlayMode 
              @agentInfo.loguj('Fall, wait for To falled pose');
              @falled = true
              @plan << LowSkill.new("fall_front")
      elsif @beamed and @falled and not @in_falled_pose and not @up and EnvironmentModel.beamablePlayMode 
              @agentInfo.loguj('To falled pose, after that I am ready for GetUp');
              @in_falled_pose = true
              @plan << LowSkill.new("rollback2")
  elsif @beamed and @falled and @in_falled_pose and not @up and not EnvironmentModel.beamablePlayMode 
      @agentInfo.loguj('GetUp, wait for Stand');
      @up = true
      @plan << GetUp.new(Proc.new{me.on_ground?})
  elsif @beamed and @falled and @in_falled_pose and @up and not EnvironmentModel.beamablePlayMode
      @agentInfo.loguj('Stand');
      @plan << LowSkill.new("rollback")
  elsif @beamed and @falled and @in_falled_pose and @up and EnvironmentModel.beamablePlayMode
      @beamed = false
              @falled = false
              @in_falled_pose = false
              @up = false
  end
end