class WalkBehindBallRelative

# File high_skills/walkBehindBallRelative.rb, line 14
def initialize
  @agentInfo = Java::sk.fiit.jim.agent.AgentInfo.getInstance
  @radius = 1
end

# File high_skills/walkBehindBallRelative.rb, line 19
def pickHighSkill
  case 
  when @agentInfo.ballUnseen > 3
    #puts 'finding ball'
    return Localize.new(Proc.new{(not see_ball? || me.on_ground?)})
  end
  #puts 'walking to'
  return pickWalk
end

# File high_skills/walkBehindBallRelative.rb, line 29
def pickWalk
  #relative positions
  @ballRelPos = @agentInfo.ballControlPosition
  @goalRelPos = @agentInfo.kickTarget
  
  @leftPoint = @ballRelPos.add(Vector3D.cartesian(0,@radius,0))
  @frontPoint = @ballRelPos.add(Vector3D.cartesian(-@radius,0,0))      
   
  if(@agentInfo.whereIsTarget(@ballRelPos) == "back")
    puts "baaaaaaaaaaaaaaaaaaaaaaack"
    @targetToGo = @leftPoint
  else
    @targetToGo = @frontPoint
  end

  return WalkOld.new(@targetToGo)

end