/* * v_GlobalPosition_r.java */package EDU.gatech.cc.is.clay;import java.lang.*;import EDU.gatech.cc.is.abstractrobot.SimpleInterface;import EDU.gatech.cc.is.util.Vec2;/** * Report a Vec2 representing the robot's * position in global coordinates. * <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)1998 Tucker Balch * * @author Tucker Balch * @version $Revision: 1.1 $ */public class v_GlobalPosition_r extends NodeVec2	{	/** 	 * Turn debug printing on or off.	 */	public static final boolean DEBUG = Node.DEBUG;	private SimpleInterface	abstract_robot;	/**	 * Instantiate a v_GlobalPosition_r schema.	 * @param ar SimpleInterface, the abstract_robot object that 	 *           provides hardware support.	 */	public v_GlobalPosition_r(SimpleInterface ar)		{		if (DEBUG) System.out.println("v_GlobalPosition_r: instantiated");		abstract_robot = ar;		}        Vec2    last_val = new Vec2();        long    lasttime = 0;	/**	 * Return a Vec2 representing the robot's position in	 * global coordinates.	 * @param timestamp long, only get new information 	 *        if timestamp > than last call or timestamp == -1.	 * @return the heading	 */	public Vec2 Value(long timestamp)		{		if (DEBUG) System.out.println("v_GlobalPosition_r: Value()");                if ((timestamp > lasttime)||(timestamp == -1))                        {                        /*--- reset the timestamp ---*/                        if (timestamp > 0) lasttime = timestamp;			/*--- get the position ---*/			last_val = abstract_robot.getPosition(timestamp);			}		return(new Vec2(last_val.x, last_val.y));		}        }