private void replan(bool correct)
{
//TODO - make a new version for this
correct = false;
//if correct is true, it means the agent should try to first recover the previous plan
//but it should also be careful not to repeat the same failures and should understand when it completed its plan
if (correct && !pathPlan.checkIfConstantFail() && !checkPlanCompletion())
{
recoverPlan();
}
else
{
currentAction = Moves.NO_ACTION;
planRRT = true;
newPlan = true;
controller.slideReached = false;
controller.morphReached = false;
previousPlan = pathPlan;
pathPlan = new PathPlan(cutplan, remaining.Count, utils);
}
}