/* * v_TheirGoal_r.java */package EDU.gatech.cc.is.clay;import java.lang.*;import EDU.gatech.cc.is.abstractrobot.GoalSensor;import EDU.gatech.cc.is.util.Vec2;/** * This perceptual node reports the position of a soccer ball * for a GoalSensor 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 v_TheirGoal_r extends NodeVec2	{	/** 	Turn debug printing on or off.	*/	public static final boolean DEBUG = Node.DEBUG;	private GoalSensor abstract_robot;	/**	Instantiate a v_TheirGoal_r schema.	@param ar GoalSensor, the abstract_robot object that provides hardware support.	*/	public v_TheirGoal_r(GoalSensor ar)		{		if (DEBUG) System.out.println("v_TheirGoal_r: instantiated");		abstract_robot = ar;		}	/**	Return a Vec2 pointing from the	center of the robot to the ball.	@param timestamp long, only get new information if timestamp > than last call                or timestamp == -1.	@return the sensed ball	*/	public Vec2 Value(long timestamp)		{		if (DEBUG) System.out.println("v_TheirGoal_r: Value()");		return(abstract_robot.getOpponentsGoal(timestamp));		}        }