class PlanTournamentKickAccuracy

# File plan/planTournamentKickAccuracy.rb, line 8
def replan
  @plan.clear
  @agentInfo.whereIsBall();
  @agentInfo.isBallMine();
  @agentInfo.nearBall();
  
  @agentInfo.ballControlPosition();
       
      @mathModel = Java::sk.fiit.robocup.library.geometry.Vector3D.clone
  @target_position = @agentInfo.ballControlPosition()
  @target_position_phi = @target_position.getPhi()
  
  # miesto kde ma kupnut
  @kick_target = @mathModel.cartesian(10.5,7.0,0.0) #@agentInfo.kickTarget()
  
  # vypocet uhla pre nastavenie sa na poziciu
  me_flattened = my.position.set_z(0.0)
  target_vector = @kick_target - me_flattened
  target_angle = target_vector.phi
  diff_against_current = Angles.normalize(target_angle - my.rotation_z)    
  #uhol natocenia
  @kick_target_phi = diff_against_current #@kick_target.getPhi()
  
   if EnvironmentModel.beamablePlayMode and not EnvironmentModel.isKickOffLeftPlayMode
      @agentInfo.loguj('Beam');
      @plan << Beam.new(Java::sk.fiit.robocup.library.geometry.Vector3D.cartesian(-0.30, 0, 0.4))
      @beamed = true
          
  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 << Walk2BallAccuracyTournament.new(:ball, Proc.new{(not is_ball_mine? or not straight?) and not (EnvironmentModel.beamablePlayMode and not EnvironmentModel.isKickOffLeftPlayMode)})# or (not see_ball?)})
  elsif not turned_to_goal?
      @agentInfo.loguj('Turn');
      @plan << TurnToPosition.new(@kick_target, Proc.new{not turned_to_goal?})
  elsif (is_ball_mine? and straight? and turned_to_goal?)
    @agentInfo.loguj('Kick');
      @plan << KickAccuracyTournament.new(@kick_target)
  else
      @agentInfo.loguj('???');
      @plan << GetUp.new(Proc.new{me.on_ground?})
  end
end