/* * va_VisualObjects_r.java */package EDU.gatech.cc.is.clay;import java.lang.*;import EDU.gatech.cc.is.abstractrobot.VisualObjectSensor;import EDU.gatech.cc.is.util.Vec2;/** * Reports a list of Vec2s pointing to * the type of attractor requested and detected by a vision-equipped robot. * <P> * For detailed information on how to configure behaviors, see the * <A HREF="../clay/docs/index.html">Clay page</A>. * <P> * <A HREF="../COPYRIGHT.html">Copyright</A> * (c)1997, 1998 Tucker Balch                              * * @author Tucker Balch * @version $Revision: 1.1 $ */public class va_VisualObjects_r extends NodeVec2Array	{	/** 	Turn debug printing on or off.	*/	public static final boolean DEBUG = Node.DEBUG;	private VisualObjectSensor	abstract_robot;	private int attractor_type;	/**	Instantiate a va_VisualObjects_r node.	@param ar VisualObjectSensor, abstract_robot object that provides hardware support.	*/	public va_VisualObjects_r(int t, VisualObjectSensor ar)		{		if (DEBUG) System.out.println("va_VisualObjects_r: instantiated");		abstract_robot = ar;		attractor_type = t;		}	/**	Return an array of Vec2s pointing from the	center of the robot to the detected attractors.	@param timestamp long, only get new information if timestamp > than last call                or timestamp == -1.	@return the sensed obstacles	*/	public Vec2[] Value(long timestamp)		{		if (DEBUG) System.out.println("va_VisualObjects_r: Value()");		return(abstract_robot.getVisualObjects(timestamp,attractor_type));		}        }