/* * SocSmall.java */package EDU.gatech.cc.is.abstractrobot;import EDU.gatech.cc.is.util.*;import EDU.gatech.cc.is.communication.*;/** * Provides an abstract interface to the simulated * hardware of a small RoboCup robot.  It's simulated size and perceptions match * the specifications of RoboCup regulations for small robots. * If you write a control system using this interface to the hardware, * you can test it in simulation and (maybe someday) on mobile robots. * <P> * <B>Sensors and Actuators</B><BR> * SocSmall robots can sense their position on the field, * the locations of their teammates, opponents, the goals and * the ball. * The robots can turn and drive, as well as kick the ball, if they * are close to it. * <P> * <B>Frames of reference</B><BR> * We use a standard cartesian coordinate system in * meters and radians.  Pretend you are looking down * on a robot: +x goes out to your right (East), +y goes up (North).   * The center of the soccer field is (0,0). * When the robot is initialized, it is facing in the direction * of the opponents goal. * Headings are given in radians, with East=0, North=PI/2 and so on  * counter-clockwise around to 2*PI. * Some methods return "egocentric" vectors. * An egocentric vector is given relative to the center of * the robot in the same heading reference frame as global coordinates. * An object one meter east of the robot is at (1,0) egocentrically. * <P> * <B>Implementations</B><BR> * This class is extended by a simulation class (SocSmallSim) * The subclass handles details of interaction with the simulated * world.  Potentially, in the future, another implementation will * extend this class for actual physical soccer robots. * <P> * <B>Timestamps</B><BR> * Many of the sensor and motor command methods (e.g. get* and set*)  * require a timestamp as a parameter.  This is to help reduce redundant  * computations for the same movement step.  When real robots are used,  * this becomes especially important because I/O to sensors is expensive * in time. * <P> * If the timestamp is less than or equal to the value sent on the * last call to one of these methods, old data is returned. * If the timestamp is greater than the last timestamp (or -1), the * robot (simulated or real) is queried, and new data is returned.   * The idea is that during each control cycle the higher level software will * increment the timestamp and use it for all calls to these methods. * <P> * <A HREF="../COPYRIGHT.html">Copyright</A> * (c)1997, 1998 Tucker Balch * * @author Tucker Balch * @version $Revision: 1.1 $ */public interface SocSmall extends SimpleInterface, KinSensor, 	KickActuator, GoalSensor, BallSensor, Transceiver	{	// some useful numbers	/**	 * How close the ball must be to the kicking zone for a kick to work.	 */        public  static final double  KICKER_SPOT_RADIUS = 0.02; //2cm	/**	 * How fast the ball is kicked.	 */ public  static final double  KICKER_SPEED = 0.50; 	//40cm/sec	/**	 * Max speed of a SocSmall robot.	 */        public  static final double  MAX_TRANSLATION = 0.30; 	//20cm/sec	/**	 * Max turning rate of a SocSmall robot.	 */        public  static final double  MAX_STEER = Math.PI*2; 	//360/sec	/**	 * Radius of a SocSmall robot.	 */        public  static final double  RADIUS = 0.06;		//5 cm	}