private void justMakeReachable(Path path) throws SOSActionException {
    log.info("making reachable to " + path);
    if (!PoliceConstants.IS_NEW_CLEAR) {

      ArrayList<Blockade> blocks = new ArrayList<Blockade>();

      ArrayList<Blockade> blockadeEdge = reachableWithEdge.getBlockingBlockadeOfPath(path);
      blocks.addAll(blockadeEdge);
      //
      if (blocks.isEmpty()) {
        blocks.addAll(reachablityTool.getBlockingBlockadeOfPath(path));
        log.debug("clearableBlockadeToReachablebyReachablityTool is " + blocks);
        //	ArrayList<Blockade> blockadeEdge =
        // clearableBlockadeToFullReachable.getBlockingBlockadeOfPath(path);
      }
      log.debug("clearableBlockadeToReachableWithEdge is " + blocks);

      Blockade clearBlock = chooseBestBlockade(blocks);

      if (clearBlock != null) clear(clearBlock);
      else log.debug("No Blockade found---> we can move");
    } else {
      Point next = agent.degreeClearableToPoint.nextPointToClear(path, true, true);
      if (next != null) {
        //				log.warn("clear at" + next);
        clear(next);
      }
    }
  }
  private void justMakeReachableWithGoodReachablity(Path path) throws SOSActionException {
    log.info("making reachable with good reachablity to " + path);

    ArrayList<Blockade> blocks = reachablityTool.getBlockingBlockadeOfPath(path);
    log.debug("clearableBlockadeToReachablebyReachablityTool is " + blocks);
    ArrayList<Blockade> blockadeEdge = reachableWithEdge.getBlockingBlockadeOfPath(path);
    blocks.addAll(blockadeEdge);

    log.debug("clearableBlockadeToReachableWithEdge is " + blocks);

    Blockade clearBlock = chooseBestBlockade(blocks);

    if (clearBlock != null) clear(clearBlock);
    else if (clearBlock == null && !blocks.isEmpty()) {
      log.debug("No blockade is in range but the path is close!!! so move to close area");
      ArrayList<Pair<? extends Area, Point2D>> dest =
          new ArrayList<Pair<? extends Area, Point2D>>();
      for (Blockade blockade : blocks) {
        dest.add(blockade.getPositionPair());
      }
      path = agent.move.getPathToPoints(dest, PoliceMove.class);
      agent.move(path);
    } else log.debug("No Blockade found---> we can move");
  }